diff --git "a/json/train/data-00011-of-00160.json" "b/json/train/data-00011-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00011-of-00160.json"
@@ -0,0 +1,1121 @@
+{"uid":"4606938342734737445","text":"\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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\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: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e","video":"6912364749412764089.mp4"}
+{"uid":"17166261095103002773","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table 10- Put the white packet on the table 11- Put the white packet on the table 12- Put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- Put the white packet on the table 3- Put the white packet on the table 4- Put the white packet on the table 5- 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table 10- Put the white packet on the table 11- Put the white packet on the table 12- Put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the white 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 white packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \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","video":"4578124957514730394.mp4"}
+{"uid":"17670048140701508411","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- Put the white packet on the table 3- Put the white packet on the table 4- Put the white packet on the table 5- Put the white packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\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:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray 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: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: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","video":"17245198610243276370.mp4"}
+{"uid":"16868251660100383400","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":"12327290304031821488.mp4"}
+{"uid":"1508821648583775824","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":"3568456871296178434.mp4"}
+{"uid":"2745913867807071558","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6449607488785495855.mp4"}
+{"uid":"9310607018969862423","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups Q: immediate next step? \u003cPRED\u003eA: Put the glass upside down\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the glass upside down\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glass upside down 2- Stack the glass 3- Stack the glass 4- Stack the glass 5- Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the glass upside down\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the glass upside down\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the glass upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 glass upside down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6605197989689881635.mp4"}
+{"uid":"8809126941575911166","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- Put the white packet on the table 3- Put the white packet on the table 4- Put the white packet on the table 5- 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: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:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\n\u003c/PRED\u003e","video":"16167401421244624758.mp4"}
+{"uid":"12424340700492417348","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet on the table 2- Put the white packet on the table 3- Put the white packet on the table 4- Put the white packet on the table 5- Put the white 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: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: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e","video":"16183625578514750131.mp4"}
+{"uid":"13111786989811180229","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: 1- Put the glass upside down 2- Stack the glass 3- Stack the glass 4- Stack the glass 5- Stack the glass Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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: Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: 1- Put the glass upside down 2- Stack the glass 3- Stack the glass 4- Stack the glass 5- Stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- Move the stack forward 3- Stack the glass 4- Move the stack forward 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e","video":"12706862830350512230.mp4"}
+{"uid":"4171310117097298884","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":"17698102633294856385.mp4"}
+{"uid":"10668713299762052673","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: 1- Put the glass upside down 2- Stack the glass 3- Stack the glass 4- Stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- Stack the glass 3- Move the stack forward 4- Stack the glass 5- Move the stack forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: 1- Put the glass upside down 2- Stack the glass 3- Stack the glass 4- Stack the glass Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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: Stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e","video":"16383107772638183493.mp4"}
+{"uid":"3812134316049474292","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: 1- Put the glass upside down 2- Stack the glass 3- Stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- Stack the glass 3- Stack the glass 4- Move the stack forward 5- Stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: 1- Put the glass upside down 2- Stack the glass 3- Stack the glass Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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: Stack the glass\n\u003c/PRED\u003e","video":"17820025164101530161.mp4"}
+{"uid":"13330909705823822812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the seaweed snacks 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":"14868189001347610437.mp4"}
+{"uid":"16252837706424783008","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue white 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":"10993735324461091419.mp4"}
+{"uid":"8068046462642447360","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- Put the white packet on the table 3- Put the white packet on the table 4- Put the white packet on the table 5- Put the white packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\n\u003c/PRED\u003e","video":"13551854601509633882.mp4"}
+{"uid":"6163738129269803528","text":"\u003ctask:success:discrete:False\u003e\nStack 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: 1- Put the glass upside down 2- Stack the glass 3- Stack the glass 4- Stack the glass 5- Stack the glass 6- Stack the glass 7- Move the stack forward Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- Move the stack forward 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: 1- Put the glass upside down 2- Stack the glass 3- Stack the glass 4- Stack the glass 5- Stack the glass 6- Stack the glass 7- Move the stack forward Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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":"7051170733225992940.mp4"}
+{"uid":"3568839803708661046","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: 1- Put the glass upside down Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- Stack the glass 3- Stack the glass 4- Stack the glass 5- Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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: Stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: 1- Put the glass upside down Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e","video":"13091079123968550597.mp4"}
+{"uid":"16906380866988724350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5041809594830196942.mp4"}
+{"uid":"10066817594764289073","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: 1- Put the glass upside down 2- Stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- Stack the glass 3- Stack the glass 4- Stack the glass 5- Move the stack forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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: stack the cups Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: 1- Put the glass upside down 2- Stack the glass Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e","video":"9591606867988817419.mp4"}
+{"uid":"15329951482001224865","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the white pebble into the left transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15971411866932398487.mp4"}
+{"uid":"13537171037019659432","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace  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":"15171482057032630636.mp4"}
+{"uid":"15014554731352740368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the cheese balls snacks packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15887891735022993408.mp4"}
+{"uid":"1572623293848744689","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOn the tap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"735395057152371703.mp4"}
+{"uid":"7547147480413491776","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the white packet on the table\n\u003c/PRED\u003e\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: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e","video":"16748698237393918181.mp4"}
+{"uid":"11469084797097511927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in squarish 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":"15103126911956349468.mp4"}
+{"uid":"5872593114328198541","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":"15216334021301544078.mp4"}
+{"uid":"15975493044868032500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the scooper in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12383690649257200421.mp4"}
+{"uid":"7868576710058074932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4929600999890430799.mp4"}
+{"uid":"11451634536121105119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup on 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":"11501492447423625765.mp4"}
+{"uid":"6367503967423073984","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack 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","video":"5955347762558846069.mp4"}
+{"uid":"13194665332765624011","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- 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:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\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","video":"5889458297951059406.mp4"}
+{"uid":"18444065999649194754","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":"1155889181257079732.mp4"}
+{"uid":"15075684122422398478","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: 1- Put the glass upside down 2- Stack the glass 3- Stack the glass 4- Stack the glass 5- Stack the glass 6- Stack the glass 7- Move the stack forward 8- Stack the glass Q: immediate next step? \u003cPRED\u003eA: Move the stack forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the stack 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\nMove the stack 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: stack the cups. last 20 steps: 1- Put the glass upside down 2- Stack the glass 3- Stack the glass 4- Stack the glass 5- Stack the glass 6- Stack the glass 7- Move the stack forward 8- Stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Move the stack forward 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the stack forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups Q: immediate next step? \u003cPRED\u003eA: Move the stack forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the stack forward\n\u003c/PRED\u003e","video":"17393425690418456508.mp4"}
+{"uid":"8547199946284628909","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table 10- Put the white packet on the table 11- Put the white packet on the table 12- Put the white packet on the table 13- Put the white packet on the table 14- Put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\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: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: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: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table 10- Put the white packet on the table 11- Put the white packet on the table 12- Put the white packet on the table 13- Put the white packet on the table 14- Put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- Put the white packet on the table 3- Put the white packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\n\u003c/PRED\u003e","video":"16672341856577614399.mp4"}
+{"uid":"7304000991774468534","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table 10- Put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- Put the white packet on the table 3- Put the white packet on the table 4- Put the white packet on the table 5- Put the white 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 white packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table 10- Put the white packet on the table Q: immediate next step? \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:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\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","video":"16656745858009857704.mp4"}
+{"uid":"12860691861380437852","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: 1- Put the glass upside down 2- Stack the glass 3- Stack the glass 4- Stack the glass 5- Stack the glass 6- Stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Move the stack forward 2- Stack the glass 3- Move the stack forward 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups. last 20 steps: 1- Put the glass upside down 2- Stack the glass 3- Stack the glass 4- Stack the glass 5- Stack the glass 6- Stack the glass Q: immediate next step? \u003cPRED\u003eA: Move the stack forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the stack forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the stack forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the stack forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups Q: immediate next step? \u003cPRED\u003eA: Move the stack forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the stack 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":"228184178256499369.mp4"}
+{"uid":"1896471274303304351","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":"9963783842791741236.mp4"}
+{"uid":"15124572825582128000","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":"9191269835055486326.mp4"}
+{"uid":"11701824871136371859","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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the white packet on the table 4- Put the white packet on the table 5- Put the white packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e","video":"4528957702123295417.mp4"}
+{"uid":"13009060683325782484","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:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table 10- Put the white packet on the table 11- Put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table 10- Put the white packet on the table 11- Put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- Put the white packet on the table 3- Put the white packet on the table 4- Put the white packet on the table 5- 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","video":"15630816333701352474.mp4"}
+{"uid":"17001690243960611207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple 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":"16011068984453110798.mp4"}
+{"uid":"10114152398666095771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the 14 number ball in the billiard 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":"11008614972293710764.mp4"}
+{"uid":"1893143534358298421","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":"11515068480230358962.mp4"}
+{"uid":"12155626116545446069","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet on the table\n\u003c/PRED\u003e\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the white packet on the table 5- Put the white 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","video":"17913267497995524848.mp4"}
+{"uid":"6175352158375622637","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the compostables Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10603140933437022871.mp4"}
+{"uid":"8393279679653463992","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the pink 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":"1537548405108761428.mp4"}
+{"uid":"2343173825234122906","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table 10- Put the white packet on the table 11- Put the white packet on the table 12- Put the white packet on the table 13- Put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table 10- Put the white packet on the table 11- Put the white packet on the table 12- Put the white packet on the table 13- Put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- Put the white packet on the table 3- Put the white packet on the table 4- Put the white packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \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: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","video":"2587588725038521136.mp4"}
+{"uid":"7778890978711110622","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table 10- Put the white packet on the table 11- Put the white packet on the table 12- Put the white packet on the table 13- Put the white packet on the table 14- Put the white packet on the table 15- Put the white packet on the table 16- Put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet 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 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table 10- Put the white packet on the table 11- Put the white packet on the table 12- Put the white packet on the table 13- Put the white packet on the table 14- Put the white packet on the table 15- Put the white packet on the table 16- Put the white 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: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\n\u003c/PRED\u003e","video":"4664934446613716658.mp4"}
+{"uid":"6487390463145406089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the glass cage Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12124866098217348462.mp4"}
+{"uid":"556768042337817509","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table 10- Put the white packet on the table 11- Put the white packet on the table 12- Put the white packet on the table 13- Put the white packet on the table 14- Put the white packet on the table 15- Put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- Put the white packet on the table 3- done\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:planning:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray Q: immediate next step? \u003cPRED\u003eA: Put the white 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 white packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the oatmeal and coffee packets from the tray. last 20 steps: 1- Put the brown packet on the table 2- Put the brown packet on the table 3- Put the brown packet on the table 4- Put the brown packet on the table 5- Put the brown packet on the table 6- Put the brown packet on the table 7- Put the brown packet on the table 8- Put the white packet on the table 9- Put the white packet on the table 10- Put the white packet on the table 11- Put the white packet on the table 12- Put the white packet on the table 13- Put the white packet on the table 14- Put the white packet on the table 15- Put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\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","video":"15716459321309167894.mp4"}
+{"uid":"10226267635979252259","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":"2271696040644038424.mp4"}
+{"uid":"4692044782624969253","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":"7234001652212460770.mp4"}
+{"uid":"16655294597459042742","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the table with the cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean the table with 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":"9985041664505525171.mp4"}
+{"uid":"16661424596827004584","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make sure the green whiteboard marker works. Q: immediate next step? \u003cPRED\u003eA: pick up duster\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up duster\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make sure the green whiteboard marker works. last 20 steps: 1- write google on the board 2- put marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up duster 2- clean the board 3- put duster on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make sure the green whiteboard marker works. last 20 steps: 1- write google on the board 2- put marker on the table Q: immediate next step? \u003cPRED\u003eA: pick up duster\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up duster\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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:success:discrete:False\u003e\npick up 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","video":"5392766614303306847.mp4"}
+{"uid":"5461684061959914560","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":"4236282707522949315.mp4"}
+{"uid":"14347453623816147152","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the coffee cup and drop it in the compostables bin Q: immediate next step? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the coffee cup and drop it in the compostables bin. last 20 steps: 1- put the cup in the dustbin 2- pick up the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue paper on the table 2- put the tissue paper in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the coffee cup and drop it in the compostables bin. last 20 steps: 1- put the cup in the dustbin 2- pick up the tissue paper Q: immediate next step? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3189407387121139599.mp4"}
+{"uid":"11799029110963031081","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cloth on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cloth 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 cloth 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: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the cloth on the table 2- clean the table with the cloth 3- drop the cloth in the basket 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cloth on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the cloth on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor Q: immediate next step? \u003cPRED\u003eA: place the cloth on the table\n\u003c/PRED\u003e","video":"743004464016515193.mp4"}
+{"uid":"1620796358542166491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white block in 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":"1642089369090204801.mp4"}
+{"uid":"15253732774049613171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut last pink in a stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9829476187072349628.mp4"}
+{"uid":"758248894325962243","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":"14330505483492432677.mp4"}
+{"uid":"9457346193812418006","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards 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":"10075124999685216457.mp4"}
+{"uid":"4573732798345541572","text":"\u003ctask:success:discrete:False\u003e\nwrite google 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make sure the green whiteboard marker works. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: write google on the board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite google 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: write google on the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make sure the green whiteboard marker works. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- write google on the board 2- put marker on the table 3- pick up duster 4- clean the board 5- put duster on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make sure the green whiteboard marker works. Q: immediate next step? \u003cPRED\u003eA: write google on the board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write google on the board\n\u003c/PRED\u003e","video":"11940734218577647295.mp4"}
+{"uid":"6580915607067671338","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put duster on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput duster 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 make sure the green whiteboard marker works. last 20 steps: 1- write google on the board 2- put marker on the table 3- pick up duster 4- clean the board Q: immediate next step? \u003cPRED\u003eA: put duster on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put duster on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make sure the green whiteboard marker works. Q: immediate next step? \u003cPRED\u003eA: put duster on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make sure the green whiteboard marker works. last 20 steps: 1- write google on the board 2- put marker on the table 3- pick up duster 4- clean the board Q: next 5 steps? \u003cPRED\u003eA: 1- put duster on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput duster 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":"4221071454827623562.mp4"}
+{"uid":"11526913420206981391","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":"14727183398538032700.mp4"}
+{"uid":"11177431543003101086","text":"\u003ctask:success:discrete:True\u003e\nwrite google on 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: write google on the board\n\u003c/PRED\u003e","video":"13039422439954194292.mp4"}
+{"uid":"10251289171941400849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the strainer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6980841949683030153.mp4"}
+{"uid":"10231875571229861407","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put pen on the table 2- put pen on the table 3- put pen on the table 4- put pen on the table 5- put marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e","video":"12131997604950031831.mp4"}
+{"uid":"2352592894988207112","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table 3- put pen on the table 4- put pen on the table 5- put marker on the table 6- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pen on the table 2- put pen on the table 3- put marker on the table 4- put marker on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table 3- put pen on the table 4- put pen on the table 5- put marker on the table 6- put pen on the table Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e","video":"2794903933499126071.mp4"}
+{"uid":"485272706343602277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7375747558579669412.mp4"}
+{"uid":"15198244410439739981","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":"3155297443001265465.mp4"}
+{"uid":"1361864716412727481","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup 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":"11713088157291028518.mp4"}
+{"uid":"8229888702306397860","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table 3- put pen on the table 4- put pen on the table 5- put marker on the table 6- put pen on the table 7- put pen on the table 8- put pen on the table 9- put marker on the table Q: immediate next step? \u003cPRED\u003eA: put marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder Q: immediate next step? \u003cPRED\u003eA: put marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table 3- put pen on the table 4- put pen on the table 5- put marker on the table 6- put pen on the table 7- put pen on the table 8- put pen on the table 9- put marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put marker on the table 2- done\n\u003c/PRED\u003e","video":"15354408339576048238.mp4"}
+{"uid":"9112795513508200645","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table 3- put pen on the table 4- put pen on the table 5- put marker on the table Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table 3- put pen on the table 4- put pen on the table 5- put marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pen on the table 2- put pen on the table 3- put pen on the table 4- put marker on the table 5- put marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11072417818430997431.mp4"}
+{"uid":"4526714610541880349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15080885232147576158.mp4"}
+{"uid":"15099901743593363963","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":"17140712567855746683.mp4"}
+{"uid":"16355255776211638906","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the coffee cup and drop it in the compostables bin. last 20 steps: 1- put the cup in the dustbin Q: immediate next step? \u003cPRED\u003eA: pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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:success:discrete:False\u003e\npick up the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the coffee cup and drop it in the compostables bin. last 20 steps: 1- put the cup in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tissue paper 2- put the tissue paper on the table 3- put the tissue paper in the dustbin 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the coffee cup and drop it in the compostables bin Q: immediate next step? \u003cPRED\u003eA: pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup in the dustbin\n\u003c/PRED\u003e","video":"16924736232121093612.mp4"}
+{"uid":"89296142754186439","text":"\u003ctask:success:discrete:True\u003e\nput 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 marker on the table\n\u003c/PRED\u003e","video":"3539714935105219182.mp4"}
+{"uid":"6695043215306035096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana 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":"6263943761846737156.mp4"}
+{"uid":"1097509084365791214","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen from holder onto the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16942302930884789145.mp4"}
+{"uid":"12070104201495668275","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pistachio in right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10054506822954187554.mp4"}
+{"uid":"15037420655266789382","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make sure the green whiteboard marker works. Q: immediate next step? \u003cPRED\u003eA: put marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:affordance:discriminative:discrete:True\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make sure the green whiteboard marker works. last 20 steps: 1- write google on the board Q: immediate next step? \u003cPRED\u003eA: put marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make sure the green whiteboard marker works. last 20 steps: 1- write google on the board Q: next 5 steps? \u003cPRED\u003eA: 1- put marker on the table 2- pick up duster 3- clean the board 4- put duster on the table 5- done\n\u003c/PRED\u003e","video":"10175742971225919284.mp4"}
+{"uid":"13711919776312277027","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table 3- put pen on the table 4- put pen on the table 5- put marker on the table 6- put pen on the table 7- put pen on the table 8- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put marker on the table 2- put marker on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table 3- put pen on the table 4- put pen on the table 5- put marker on the table 6- put pen on the table 7- put pen on the table 8- put pen on the table Q: immediate next step? \u003cPRED\u003eA: put marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder Q: immediate next step? \u003cPRED\u003eA: put marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:affordance:discriminative:discrete:True\u003e\nput 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: put marker on the table\n\u003c/PRED\u003e","video":"6746986550931392433.mp4"}
+{"uid":"9522776749670229611","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7098164010037572018.mp4"}
+{"uid":"11786593193959269169","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5948227566046942354.mp4"}
+{"uid":"17561642212704456953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a pink packet on the desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17945518075379642971.mp4"}
+{"uid":"18143161503592285087","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cloth in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer 2- place the cloth on the table 3- clean the table with the cloth Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cloth in the basket 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer 2- place the cloth on the table 3- clean the table with the cloth Q: immediate next step? \u003cPRED\u003eA: drop the cloth in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cloth in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cloth in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cloth in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor Q: immediate next step? \u003cPRED\u003eA: drop the cloth in the basket\n\u003c/PRED\u003e","video":"13107304330787583719.mp4"}
+{"uid":"17108863021967645365","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor Q: immediate next step? \u003cPRED\u003eA: clean the table with the cloth\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer 2- place the cloth on the table Q: next 5 steps? \u003cPRED\u003eA: 1- clean the table with the cloth 2- drop the cloth in the basket 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer 2- place the cloth on the table Q: immediate next step? \u003cPRED\u003eA: clean the table with the cloth\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the table with 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: clean the table with the cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the table with 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the table with the cloth\n\u003c/PRED\u003e","video":"3872124050897889796.mp4"}
+{"uid":"2317690886904680973","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cover on 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":"3347266838747673314.mp4"}
+{"uid":"454523274751422857","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cloth in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer 2- place the cloth on the table 3- clean the table with the cloth 4- drop the cloth in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: 1- open the drawer 2- place the cloth on the table 3- clean the table with the cloth 4- drop the cloth in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the cloth in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3923333497055657478.mp4"}
+{"uid":"8061454083932506133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the black object in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13910468791802196191.mp4"}
+{"uid":"3735976535830542407","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: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: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. 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: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the cloth on the table 3- clean the table with the cloth 4- drop the cloth in the basket 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: My desk is dirty, can you grab a cloth from the top drawer and wipe it down for me? When you are done please place the dirty cloth in the bin on the floor 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":"11291800210972642031.mp4"}
+{"uid":"8562415393801755828","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table 3- put pen on the table 4- put pen on the table Q: immediate next step? \u003cPRED\u003eA: put marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder Q: immediate next step? \u003cPRED\u003eA: put marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table 3- put pen on the table 4- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put marker on the table 2- put pen on the table 3- put pen on the table 4- put pen on the table 5- put marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put marker on the table\n\u003c/PRED\u003e","video":"2800174160050493160.mp4"}
+{"uid":"10308584688337917749","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue paper in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the coffee cup and drop it in the compostables bin. last 20 steps: 1- put the cup in the dustbin 2- pick up the tissue paper 3- put the tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue paper in the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the coffee cup and drop it in the compostables bin. last 20 steps: 1- put the cup in the dustbin 2- pick up the tissue paper 3- put the tissue paper on the table Q: immediate next step? \u003cPRED\u003eA: put the tissue paper in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue 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:planning:freeform\u003e\ncurrent goal is: Take the coffee cup and drop it in the compostables bin Q: immediate next step? \u003cPRED\u003eA: put the tissue paper in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue paper in the dustbin\n\u003c/PRED\u003e","video":"4005188240928218029.mp4"}
+{"uid":"16244516413642021087","text":"\u003ctask:success:discrete:True\u003e\nclean 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: clean the board\n\u003c/PRED\u003e","video":"7550632439953237905.mp4"}
+{"uid":"10290698462741292006","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow 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":"10687543143592896340.mp4"}
+{"uid":"16316789320105367840","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: Take the coffee cup and drop it in the compostables bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the coffee cup and drop it in the compostables bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup in the dustbin 2- pick up the tissue paper 3- put the tissue paper on the table 4- put the tissue paper in the dustbin 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the coffee cup and drop it in the compostables bin Q: immediate next step? \u003cPRED\u003eA: put the cup in the dustbin\n\u003c/PRED\u003e","video":"6080378472524355683.mp4"}
+{"uid":"14934964071193443853","text":"\u003ctask:success:discrete:True\u003e\npick up the tissue 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: pick up the tissue paper\n\u003c/PRED\u003e","video":"8215247159257119116.mp4"}
+{"uid":"3942335251756614608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the bowl upside down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1737810115199743596.mp4"}
+{"uid":"138371720310136327","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table 3- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pen on the table 2- put marker on the table 3- put pen on the table 4- put pen on the table 5- put pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table 3- put pen on the table Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e","video":"14327555462030746313.mp4"}
+{"uid":"12544407206253410468","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput  the black pen in the black paper box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"476458388233655127.mp4"}
+{"uid":"14292223391068880558","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pen on the table 2- put pen on the table 3- put pen on the table 4- put marker on the table 5- put pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e","video":"13136505087107702194.mp4"}
+{"uid":"17350912086914104960","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pen on the table 2- put pen on the table 3- put marker on the table 4- put pen on the table 5- put pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6544754102854615370.mp4"}
+{"uid":"5634269104208284705","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table 3- put pen on the table 4- put pen on the table 5- put marker on the table 6- put pen on the table 7- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pen on the table 2- put marker on the table 3- put marker on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder. last 20 steps: 1- put pen on the table 2- put pen on the table 3- put pen on the table 4- put pen on the table 5- put marker on the table 6- put pen on the table 7- put pen on the table Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and the marker from pen holder Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2235281648208864696.mp4"}
+{"uid":"829193071237994107","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the coffee cup and drop it in the compostables bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the coffee cup and drop it in the compostables bin. last 20 steps: 1- put the cup in the dustbin 2- pick up the tissue paper 3- put the tissue paper on the table 4- put the tissue paper in the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tissue paper in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the tissue paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the coffee cup and drop it in the compostables bin. last 20 steps: 1- put the cup in the dustbin 2- pick up the tissue paper 3- put the tissue paper on the table 4- put the tissue paper in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"6497103727407948915.mp4"}
+{"uid":"672388354573174037","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make sure the green whiteboard marker works. last 20 steps: 1- write google on the board 2- put marker on the table 3- pick up duster Q: immediate next step? \u003cPRED\u003eA: clean the board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make sure the green whiteboard marker works. Q: immediate next step? \u003cPRED\u003eA: clean the board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make sure the green whiteboard marker works. last 20 steps: 1- write google on the board 2- put marker on the table 3- pick up duster Q: next 5 steps? \u003cPRED\u003eA: 1- clean the board 2- put duster on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean 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","video":"15092050577706352561.mp4"}
+{"uid":"10955312178178785854","text":"\u003ctask:success:discrete:True\u003e\nPick the black marker from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the black marker from the floor\n\u003c/PRED\u003e","video":"1028379407815127304.mp4"}
+{"uid":"11260015980389134119","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the orange marker 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass 6- Drop the orange marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass 6- Drop the orange marker in the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15220056046222582658.mp4"}
+{"uid":"748686812802835214","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":"4069934557095035283.mp4"}
+{"uid":"2605413820645807406","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7667700776912648482.mp4"}
+{"uid":"17277742864794124854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntouch the top drawer handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14983872472298748951.mp4"}
+{"uid":"5490730356475498607","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":"12866942088706389071.mp4"}
+{"uid":"12578980403283722338","text":"\u003ctask:success:discrete:False\u003e\nPick the orange marker from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass Q: immediate next step? \u003cPRED\u003eA: Pick the orange marker from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the orange marker from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: Pick the orange marker from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the orange marker from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the orange marker from the floor 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the orange marker from the floor\n\u003c/PRED\u003e","video":"13140290398253529759.mp4"}
+{"uid":"4689659180390377097","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":"1455839808612355513.mp4"}
+{"uid":"2089308699312648235","text":"\u003ctask:success:discrete:True\u003e\npick the blue 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 the blue marker\n\u003c/PRED\u003e","video":"17704790512581946288.mp4"}
+{"uid":"10248405945731071141","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the green  marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the green  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":"10602452966444883664.mp4"}
+{"uid":"14468603199146183531","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange marker 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: drop the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange marker 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass Q: immediate next step? \u003cPRED\u003eA: drop the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange marker in the glass 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: drop the orange marker in the glass\n\u003c/PRED\u003e","video":"13159059279590364699.mp4"}
+{"uid":"18190429770244032050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass into 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":"14183751453161907419.mp4"}
+{"uid":"5175733257162521428","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the green marker in the glass 2- pick up the black marker 3- put the black marker in the glass 4- drop the orange marker in the glass 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green marker 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: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: put the green marker in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass Q: immediate next step? \u003cPRED\u003eA: put the green marker in the glass\n\u003c/PRED\u003e","video":"12273677182558605324.mp4"}
+{"uid":"789265590950725148","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the green marker from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the green marker from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: Pick the green marker from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the green marker from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the green marker from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the green marker from the floor 2- pick up the black marker 3- put the black marker in the glass 4- drop the orange marker in the glass 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass Q: immediate next step? \u003cPRED\u003eA: Pick the green marker from the floor\n\u003c/PRED\u003e","video":"8719957821028798081.mp4"}
+{"uid":"16223340408864345632","text":"\u003ctask:success:discrete:True\u003e\nput the blue marker 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 blue marker in the glass\n\u003c/PRED\u003e","video":"14298020545758635015.mp4"}
+{"uid":"2771153560524347374","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass Q: immediate next step? \u003cPRED\u003eA: Drop the green marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the green marker in the glass 2- pick up the black marker 3- put the black marker in the glass 4- drop the orange marker in the glass 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the green marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the green marker 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: Drop the green marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: Drop the green marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the green marker 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":"15750806661722143668.mp4"}
+{"uid":"13460419071865163292","text":"\u003ctask:success:discrete:True\u003e\nPick the blue marker from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the blue marker from the floor\n\u003c/PRED\u003e","video":"9990910764394683330.mp4"}
+{"uid":"10311190943414830565","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":"7401623446041064365.mp4"}
+{"uid":"1202633529897928060","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass Q: immediate next step? \u003cPRED\u003eA: Pick the black marker from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the black marker from the floor 2- put the black marker in the glass 3- drop the orange marker in the glass 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the black marker from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: Pick the black marker from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the black marker from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the black marker from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the black marker from the floor\n\u003c/PRED\u003e","video":"17492206836863039611.mp4"}
+{"uid":"7362261227502379247","text":"\u003ctask:success:discrete:True\u003e\nput the red marker 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:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass 6- put the red marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass 6- put the red marker in the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red marker in the glass\n\u003c/PRED\u003e","video":"10222653621602052566.mp4"}
+{"uid":"9748767063480282599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11449363721703849421.mp4"}
+{"uid":"5035412114683600554","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the red marker in the glass 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass Q: immediate next step? \u003cPRED\u003eA: put the red marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red marker 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:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: put the red marker in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red marker 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":"4315038943114819297.mp4"}
+{"uid":"2864343414458704208","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the blue marker from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the blue marker from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the blue marker from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: Pick the blue marker from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick the blue marker from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the blue marker from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"676626722181666081.mp4"}
+{"uid":"9582619617404736186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the 15th marker 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":"2405363664912042312.mp4"}
+{"uid":"16916743617347388782","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the black marker in the glass 2- drop the orange marker in the glass 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the black marker 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\nDrop the black marker 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: Drop the black marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: Drop the black marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker Q: immediate next step? \u003cPRED\u003eA: Drop the black marker in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the black marker in the glass\n\u003c/PRED\u003e","video":"15479855678177263611.mp4"}
+{"uid":"2731564536135650704","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put it marker in the glasss\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput it marker in the glasss Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13363745597588520318.mp4"}
+{"uid":"2917953578699878285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red pen in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15224687419174961726.mp4"}
+{"uid":"429164058035613156","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black marker 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","video":"15450543378331177318.mp4"}
+{"uid":"14599304592613535290","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: pick up the green  marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the green  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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the green  marker 2- pick up the black marker 3- put the black marker in the glass 4- drop the orange marker in the glass 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the green  marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the green  marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass Q: immediate next step? \u003cPRED\u003eA: pick up the green  marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the green  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","video":"15984165110571543099.mp4"}
+{"uid":"3286509238204627473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace plastic fork in the forks 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":"8481720562777145099.mp4"}
+{"uid":"5516217667150264845","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass 6- pick up the red marker Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the red marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass 6- pick up the red marker Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the red marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12452095039106140904.mp4"}
+{"uid":"16888353742667975648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the stand 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":"1443114340965262338.mp4"}
+{"uid":"15489702790813891922","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the blue 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: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the blue 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: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the blue marker 2- put the green marker in the glass 3- pick up the black marker 4- put the black marker in the glass 5- drop the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e","video":"9075831026932682144.mp4"}
+{"uid":"1776366349988819388","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange marker 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: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the orange marker 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange marker in the glass 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange marker in the glass\n\u003c/PRED\u003e","video":"6233368701233727096.mp4"}
+{"uid":"9094351930017332810","text":"\u003ctask:success:discrete:True\u003e\nPick the green marker from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the green marker from the floor\n\u003c/PRED\u003e","video":"2392390153076896070.mp4"}
+{"uid":"2327480075956383095","text":"\u003ctask:success:discrete:True\u003e\nput the green marker 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 green marker in the glass\n\u003c/PRED\u003e","video":"9479083700768255505.mp4"}
+{"uid":"14818459358013044405","text":"\u003ctask:success:discrete:True\u003e\nput the green marker 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 green marker in the glass\n\u003c/PRED\u003e","video":"815084225435287290.mp4"}
+{"uid":"95727843502879475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper glass upside down on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4025483126332075303.mp4"}
+{"uid":"7499459178157204764","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the red marker 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the red marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass Q: immediate next step? \u003cPRED\u003eA: pick up the red marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: pick up the red marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the red marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the red marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the red 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","video":"5832676966269531012.mp4"}
+{"uid":"2987479534159393854","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":"17986321225514282864.mp4"}
+{"uid":"2963618903411850025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the clips in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16809735022028207180.mp4"}
+{"uid":"15499662661426073240","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange marker 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:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass 6- drop the orange marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker 5- put the black marker in the glass 6- drop the orange marker in the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange marker in the glass\n\u003c/PRED\u003e","video":"814821505209828985.mp4"}
+{"uid":"4861311440888742455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11445771320654179389.mp4"}
+{"uid":"14692006626111717478","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the plastic knife 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":"14470977001416686745.mp4"}
+{"uid":"16984701997012793482","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: put the green marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass Q: immediate next step? \u003cPRED\u003eA: put the green marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green marker 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: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the green marker in the glass 2- pick up the black marker 3- put the black marker in the glass 4- drop the orange marker in the glass 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green marker 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green marker in the glass\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 glass\n\u003c/PRED\u003e","video":"10916874221273820981.mp4"}
+{"uid":"3355457657377402420","text":"\u003ctask:success:discrete:False\u003e\ndrop the marker 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:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: drop the marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the marker 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: drop the marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- drop the marker in the glass 2- put the green marker in the glass 3- pick up the black marker 4- put the black marker in the glass 5- drop the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor Q: immediate next step? \u003cPRED\u003eA: drop the marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the marker in the glass\n\u003c/PRED\u003e","video":"15910660470390982914.mp4"}
+{"uid":"2645329469840493274","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor Q: immediate next step? \u003cPRED\u003eA: Drop the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: Drop the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the blue marker 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue marker in the glass 2- put the green marker in the glass 3- pick up the black marker 4- put the black marker in the glass 5- drop the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue marker 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":"16389526067731094136.mp4"}
+{"uid":"13279587970416365777","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: pick the black marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass Q: immediate next step? \u003cPRED\u003eA: pick the black marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black marker 2- put the black marker in the glass 3- drop the orange marker in the glass 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black 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":"14962876744949400624.mp4"}
+{"uid":"15736388980263994397","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the black 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":"7292636282044432605.mp4"}
+{"uid":"18167888995025149626","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":"6082408872757988043.mp4"}
+{"uid":"7363245605083484954","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the black marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the black marker 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","video":"15883819929532042865.mp4"}
+{"uid":"2598786133044849452","text":"\u003ctask:success:discrete:True\u003e\ndrop the marker 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: drop the marker in the glass\n\u003c/PRED\u003e","video":"17823078611353086825.mp4"}
+{"uid":"10930699786363351746","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolates on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5915725423867661292.mp4"}
+{"uid":"2059584343200887743","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black marker 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker Q: next 5 steps? \u003cPRED\u003eA: 1- put the black marker in the glass 2- drop the orange marker in the glass 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass 4- pick up the black marker Q: immediate next step? \u003cPRED\u003eA: put the black marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black marker 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: put the black marker in the glass\n\u003c/PRED\u003e","video":"14995341013175235761.mp4"}
+{"uid":"16660379884611460170","text":"\u003ctask:success:discrete:False\u003e\nput it marker in the glasss Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass Q: immediate next step? \u003cPRED\u003eA: put it marker in the glasss\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: put it marker in the glasss\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put it marker in the glasss\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put it marker in the glasss\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput it marker in the glasss Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put it marker in the glasss 2- drop the orange marker in the glass 3- done\n\u003c/PRED\u003e","video":"2586221665395743572.mp4"}
+{"uid":"5349590367251180931","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the rubic cube in white 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":"6341808384392921244.mp4"}
+{"uid":"17671436813649578658","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker 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:success:discrete:False\u003e\nput the blue marker 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker in the glass 2- put the green marker in the glass 3- pick up the black marker 4- put the black marker in the glass 5- drop the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the glass\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 glass\n\u003c/PRED\u003e","video":"15223147007674837718.mp4"}
+{"uid":"14082794368263248632","text":"\u003ctask:success:discrete:True\u003e\npick up the black 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 black marker\n\u003c/PRED\u003e","video":"13437895230290780199.mp4"}
+{"uid":"6942808995010512757","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":"10350529066317679858.mp4"}
+{"uid":"17545322205417219521","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue marker 2- put the green marker in the glass 3- pick up the black marker 4- put the black marker in the glass 5- drop the orange marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e","video":"11464693473529849211.mp4"}
+{"uid":"1385903616764962999","text":"\u003ctask:success:discrete:True\u003e\npick up the blue 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 blue marker\n\u003c/PRED\u003e","video":"1257441894370108911.mp4"}
+{"uid":"3065729777190886571","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":"2935223651320198381.mp4"}
+{"uid":"7395803595726002031","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the black 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the black marker 2- put the black marker in the glass 3- drop the orange marker in the glass 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup Q: immediate next step? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and sort them in each cup. last 20 steps: 1- Pick the blue marker from the floor 2- drop the marker in the glass 3- put the green marker in the glass Q: immediate next step? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the black 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","video":"842289569774094307.mp4"}
+{"uid":"608572636816290891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the green 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":"3315787129454932217.mp4"}
+{"uid":"6764958361395165953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7760390619533786264.mp4"}
+{"uid":"6914091066337763668","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":"3901597530230930780.mp4"}
+{"uid":"2441081800932251861","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange packet in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12606648230371045154.mp4"}
+{"uid":"17111565235435607667","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoons in pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoons in pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoons in pen stand 2- Put the spoons in the left holder 3- Pick up the knife 4- Put the plastic knife in pen stand 5- Pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoons in 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 plastic spoons in 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 plastic spoons in pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoons in pen stand\n\u003c/PRED\u003e","video":"14223123845019687516.mp4"}
+{"uid":"9446728942417733618","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tray in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10650732965590116480.mp4"}
+{"uid":"3130916990465387177","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput block 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 block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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: please put all the blocks back into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e","video":"13028721413127196213.mp4"}
+{"uid":"4330878535196717813","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up plastic spoons 2- Pick up the knife 3- Put the plastic knife in pen stand 4- Pick up the plastic knife 5- Put the plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up plastic spoons\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder Q: immediate next step? \u003cPRED\u003eA: Pick up plastic spoons\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up plastic spoons Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 plastic spoons Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 plastic spoons\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Pick up plastic spoons\n\u003c/PRED\u003e","video":"6856790560922178878.mp4"}
+{"uid":"8017719235423116514","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the plastic forks\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the plastic forks Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14872849639325561201.mp4"}
+{"uid":"5287839361125607527","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in 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 plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in pen stand 2- Pick up the plastic knife 3- Put the plastic knife in pen stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic knife in 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":"17214096482894491683.mp4"}
+{"uid":"1480906824777332396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nflip 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":"4873367206448013525.mp4"}
+{"uid":"9225019098821830939","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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 block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e","video":"13561651168448551947.mp4"}
+{"uid":"396439271945308825","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":"10377852809004368450.mp4"}
+{"uid":"17926628747198844305","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":"17286031007121716609.mp4"}
+{"uid":"7874392062238020170","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the knife in the middle 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: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife 6- Put the plastic knife in pen stand 7- Put the knife in the middle holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife 6- Put the plastic knife in pen stand 7- Put the knife in the middle holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8987420001262382956.mp4"}
+{"uid":"17395460136300825898","text":"\u003ctask:success:discrete:True\u003e\nPut the spoons in the left 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 spoons in the left holder\n\u003c/PRED\u003e","video":"9842038136434242057.mp4"}
+{"uid":"15764166476905163289","text":"\u003ctask:success:discrete:True\u003e\nPick up plastic spoons Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 plastic spoons\n\u003c/PRED\u003e","video":"6980288988889545107.mp4"}
+{"uid":"15034492590554923988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue marker 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":"16090157052129724907.mp4"}
+{"uid":"13838570902699016579","text":"\u003ctask:success:discrete:True\u003e\nPut the knife in the middle 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 knife in the middle holder\n\u003c/PRED\u003e","video":"6461891968130025184.mp4"}
+{"uid":"11012943391631493489","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1351718774643256511.mp4"}
+{"uid":"15294008686169780344","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper clip in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15162663958332274303.mp4"}
+{"uid":"17028040132484237679","text":"\u003ctask:success:discrete:True\u003e\nPut plastic spoons in the black glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put plastic spoons in the black glass\n\u003c/PRED\u003e","video":"4078684269751437491.mp4"}
+{"uid":"2021574626306682082","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14159735614088085668.mp4"}
+{"uid":"18132997870279073478","text":"\u003ctask:success:discrete:True\u003e\nWipe 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: Wipe the table\n\u003c/PRED\u003e","video":"2159539667551359251.mp4"}
+{"uid":"6820207225405062385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chocolate candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14833642583207360435.mp4"}
+{"uid":"18051775213303121789","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput almond egg in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15185734630876061361.mp4"}
+{"uid":"8800075903858330296","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place plastic forks in the black glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks Q: immediate next step? \u003cPRED\u003eA: Place plastic forks in the black glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks Q: next 5 steps? \u003cPRED\u003eA: 1- Place plastic forks in the black glass 2- Pick up the spoons 3- Put the spoons in the left holder 4- Pick up the knife 5- Put the plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Place plastic forks in the black glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace plastic forks in the black glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place plastic forks in the black glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace plastic forks in the black glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14557972814697639873.mp4"}
+{"uid":"13225124243909726196","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled my water in the MK. Can you clean it up with napkins?. last 20 steps: 1- place tissue paper on the table 2- wipe the water with tissue paper 3- place tissue paper on the table Q: immediate next step? \u003cPRED\u003eA: wipe the water with tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwipe the water with tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwipe the water with 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: I spilled my water in the MK. Can you clean it up with napkins?. last 20 steps: 1- place tissue paper on the table 2- wipe the water with tissue paper 3- place tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- wipe the water with tissue paper 2- place tissue paper in the recycle bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe the water with tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I spilled my water in the MK. Can you clean it up with napkins? Q: immediate next step? \u003cPRED\u003eA: wipe the water with tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe the water with tissue paper\n\u003c/PRED\u003e","video":"2067201180285620616.mp4"}
+{"uid":"16164956591931306085","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"5348492511465424344.mp4"}
+{"uid":"3182646008158096727","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Put the spoons in the left holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the spoons in the left 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 spoons in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoons in the left holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoons in the left holder 2- Pick up the knife 3- Put the plastic knife in pen stand 4- Pick up the plastic knife 5- Put the plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons Q: immediate next step? \u003cPRED\u003eA: Put the spoons in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoons in the left 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":"5529408065952829437.mp4"}
+{"uid":"7550949797300314745","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":"16049170750890604888.mp4"}
+{"uid":"1045982058429590294","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"11366578735159348847.mp4"}
+{"uid":"15219688547929878241","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up a joystick 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":"16840874541187402078.mp4"}
+{"uid":"6174992839470444453","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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 block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box 7- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- move the box middle of the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box 7- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"15166089947966256416.mp4"}
+{"uid":"15137310321473593454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the small sticky notes 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":"892037718471895010.mp4"}
+{"uid":"17409985651384313663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup on 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":"10737075896652424841.mp4"}
+{"uid":"16690585870717781109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the trolley to the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1205518901065153816.mp4"}
+{"uid":"9203172202555202471","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":"1750916853541636687.mp4"}
+{"uid":"12517049904270566939","text":"\u003ctask:success:discrete:True\u003e\nPut the forks in the right 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 forks in the right holder\n\u003c/PRED\u003e","video":"10709168383168375214.mp4"}
+{"uid":"9484506615982906996","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the knife\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 knife\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the knife 2- Put the plastic knife in pen stand 3- Pick up the plastic knife 4- Put the plastic knife in pen stand 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Pick up the knife\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder Q: immediate next step? \u003cPRED\u003eA: Pick up the knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16984849746219182239.mp4"}
+{"uid":"13685717800805232354","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up plastic knife\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9544156481099471640.mp4"}
+{"uid":"17267514379535340656","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the forks\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the forks Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"790200074654751696.mp4"}
+{"uid":"2742524469154311173","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10992963163978728319.mp4"}
+{"uid":"4968927422770714490","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the spoons\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the spoons Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 spoons\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder Q: immediate next step? \u003cPRED\u003eA: Pick up the spoons\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the spoons Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Pick up the spoons\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the spoons 2- Put the spoons in the left holder 3- Pick up the knife 4- Put the plastic knife in pen stand 5- Pick up the plastic knife\n\u003c/PRED\u003e","video":"15094468941367637014.mp4"}
+{"uid":"16786350686550820793","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box 7- put block in the box 8- put block in the box 9- put block in the box 10- put block in the box Q: immediate next step? \u003cPRED\u003eA: move the box middle of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: move the box middle of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the box middle of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box 7- put block in the box 8- put block in the box 9- put block in the box 10- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- move the box middle of the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the box middle of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the box middle of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the box middle of the table\n\u003c/PRED\u003e","video":"8674713402274768923.mp4"}
+{"uid":"12380855423202270155","text":"\u003ctask:success:discrete:True\u003e\nPut plastic knife in the black glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife 6- Put the plastic knife in pen stand 7- Put plastic knife in the black glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put plastic knife in the black glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife 6- Put the plastic knife in pen stand 7- Put plastic knife in the black glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5170148156494154015.mp4"}
+{"uid":"17409319283204418943","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place plastic forks in the black glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace plastic forks in the black glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14806162189936086726.mp4"}
+{"uid":"3742579767874905337","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box 7- put block in the box 8- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box 7- put block in the box 8- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- move the box middle of the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"1474871601157161039.mp4"}
+{"uid":"12096478101908261485","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife 6- Put the plastic knife in pen stand 7- Pick up the plastic knife 8- Put the plastic knife in pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic knife in 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 plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife 6- Put the plastic knife in pen stand 7- Pick up the plastic knife 8- Put the plastic knife in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17893726659281789980.mp4"}
+{"uid":"1274704776979256015","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle holder 2- Put the plastic knife in pen stand 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the knife in the middle 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 knife in the middle 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":"16630025529751468685.mp4"}
+{"uid":"13762594169813706173","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18223203060059908116.mp4"}
+{"uid":"14871954610228258788","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put plastic knife in the black glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut plastic knife in the black glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife 6- Put the plastic knife in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put plastic knife in the black glass 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife 6- Put the plastic knife in pen stand Q: immediate next step? \u003cPRED\u003eA: Put plastic knife in the black glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put plastic knife in the black glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Put plastic knife in the black glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut plastic knife in the black glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13912707898811531359.mp4"}
+{"uid":"16402097875254490014","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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 block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"3893357837694211741.mp4"}
+{"uid":"11862306211967449942","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box 7- put block in the box 8- put block in the box 9- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box 7- put block in the box 8- put block in the box 9- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- move the box middle of the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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":"12261101863102345629.mp4"}
+{"uid":"16601817066293992525","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: wipe the water with tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace tissue paper in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place tissue paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled my water in the MK. Can you clean it up with napkins?. last 20 steps: 1- place tissue paper on the table 2- wipe the water with tissue paper 3- place tissue paper on the table 4- wipe the water with tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- place tissue paper in the recycle bin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled my water in the MK. Can you clean it up with napkins?. last 20 steps: 1- place tissue paper on the table 2- wipe the water with tissue paper 3- place tissue paper on the table 4- wipe the water with tissue paper Q: immediate next step? \u003cPRED\u003eA: place tissue paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I spilled my water in the MK. Can you clean it up with napkins? Q: immediate next step? \u003cPRED\u003eA: place tissue paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwipe the water with tissue 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:affordance:discriminative:discrete:True\u003e\nplace tissue paper in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place tissue paper in the recycle bin\n\u003c/PRED\u003e","video":"16976100747407086094.mp4"}
+{"uid":"6622576768666431896","text":"\u003ctask:success:discrete:False\u003e\npick up the plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 plastic knife\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder Q: immediate next step? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the plastic knife 2- Put the plastic knife in pen stand 3- Pick up the plastic knife 4- Put the plastic knife in pen stand 5- done\n\u003c/PRED\u003e","video":"12496204379112472778.mp4"}
+{"uid":"1280887081568228976","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tissues on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tissues 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":"969299323409482021.mp4"}
+{"uid":"11272263400697762489","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pouch 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":"16948147591415619868.mp4"}
+{"uid":"17367097688093334724","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoons in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoons in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoons in 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: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoons in pen stand 2- Pick up the knife 3- Put the plastic knife in pen stand 4- Pick up the plastic knife 5- Put the plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoons in pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoons in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic spoons in 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":"15912643596455040390.mp4"}
+{"uid":"2465760116765073024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses on the existing 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":"5505448908076073605.mp4"}
+{"uid":"6987400920673425151","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic forks in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic forks in 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":"13123869316243522089.mp4"}
+{"uid":"6847959073170712410","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I spilled my water in the MK. Can you clean it up with napkins? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace tissue paper in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled my water in the MK. Can you clean it up with napkins?. last 20 steps: 1- place tissue paper on the table 2- wipe the water with tissue paper 3- place tissue paper on the table 4- wipe the water with tissue paper 5- place tissue paper in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place tissue paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled my water in the MK. Can you clean it up with napkins?. last 20 steps: 1- place tissue paper on the table 2- wipe the water with tissue paper 3- place tissue paper on the table 4- wipe the water with tissue paper 5- place tissue paper in the recycle bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15370477248138318746.mp4"}
+{"uid":"13935933068341457085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the star shape 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":"11811516649577710659.mp4"}
+{"uid":"10732553962184960295","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the fridge 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":"2328068124498718470.mp4"}
+{"uid":"10068419524382698139","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in 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 plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic knife in 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: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife 6- Put the plastic knife in pen stand 7- Pick up the plastic knife Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife 6- Put the plastic knife in pen stand 7- Pick up the plastic knife Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in pen stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in pen stand\n\u003c/PRED\u003e","video":"8453188449625040694.mp4"}
+{"uid":"7687914218655992676","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":"9884756322713908539.mp4"}
+{"uid":"5208204912848387014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8812062689546314115.mp4"}
+{"uid":"14626287983170058713","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissues on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you wipe off the mini table?. last 20 steps: 1- Put the tissue on the counter 2- Put the tissue on the counter 3- Put the tissue on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissues on the table 2- Wipe the table 3- Put the tissues in the dustbin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissues on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you wipe off the mini table?. last 20 steps: 1- Put the tissue on the counter 2- Put the tissue on the counter 3- Put the tissue on the counter Q: immediate next step? \u003cPRED\u003eA: Put the tissues on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissues 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 tissues on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you wipe off the mini table? Q: immediate next step? \u003cPRED\u003eA: Put the tissues on the table\n\u003c/PRED\u003e","video":"1173364082023868602.mp4"}
+{"uid":"17239068061303390159","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput  packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16064172773764300877.mp4"}
+{"uid":"12365923864626159406","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen stand at 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":"269482090939456666.mp4"}
+{"uid":"7955532366911438450","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the plastic forks Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic forks\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the plastic forks\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic forks\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the plastic forks 2- Pick up the spoons 3- Put the spoons in the left holder 4- Pick up the knife 5- Put the plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the plastic forks Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 plastic forks\n\u003c/PRED\u003e","video":"6580915999471526743.mp4"}
+{"uid":"11499869077207427343","text":"\u003ctask:success:discrete:True\u003e\nPick up the spoons Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 spoons\n\u003c/PRED\u003e","video":"8554481923743071928.mp4"}
+{"uid":"16303208872794948233","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":"7560826158813041878.mp4"}
+{"uid":"14767635199908325002","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place tissue paper on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I spilled my water in the MK. Can you clean it up with napkins? Q: immediate next step? \u003cPRED\u003eA: place tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwipe the water with tissue 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:affordance:discriminative:discrete:True\u003e\nplace tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled my water in the MK. Can you clean it up with napkins?. last 20 steps: 1- place tissue paper on the table 2- wipe the water with tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- place tissue paper on the table 2- wipe the water with tissue paper 3- place tissue paper in the recycle bin 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled my water in the MK. Can you clean it up with napkins?. last 20 steps: 1- place tissue paper on the table 2- wipe the water with tissue paper Q: immediate next step? \u003cPRED\u003eA: place tissue paper on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: wipe the water with tissue paper\n\u003c/PRED\u003e","video":"6842053768588861455.mp4"}
+{"uid":"4008019497277156303","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the forks Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 forks\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the forks\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the forks Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Pick up the forks\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the forks\n\u003c/PRED\u003e","video":"15653592980970708357.mp4"}
+{"uid":"5007709861488049893","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"14124015926965001469.mp4"}
+{"uid":"14379676521057891857","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the battery 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":"11501825402354147234.mp4"}
+{"uid":"1535819328268879597","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic knife in 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":"11790842360314249342.mp4"}
+{"uid":"18208218275590060917","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic forks in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic forks in 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: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the plastic forks Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 plastic forks in 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 plastic forks in pen stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the plastic forks\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks Q: immediate next step? \u003cPRED\u003eA: Put the plastic forks in pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic forks in pen stand 2- Pick up the spoons 3- Put the spoons in the left holder 4- Pick up the knife 5- Put the plastic knife in pen stand\n\u003c/PRED\u003e","video":"15150250101692370484.mp4"}
+{"uid":"3523938199861918824","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the wet wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6000062074208728663.mp4"}
+{"uid":"648651057320056944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white 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":"2017918248459804056.mp4"}
+{"uid":"7743722776012751982","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife 6- Put the plastic knife in pen stand Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife 6- Put the plastic knife in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the plastic knife 2- Put the plastic knife in pen stand 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic knife\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 plastic knife\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10291459212266018264.mp4"}
+{"uid":"16187687996520645550","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5363828162052943551.mp4"}
+{"uid":"15595460308723467505","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut an fifth 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":"12221671136532114381.mp4"}
+{"uid":"6969934851861017017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 2 packets 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":"9867457521242722277.mp4"}
+{"uid":"2308285757950242587","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife 6- Put the plastic knife in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the knife in the middle holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the knife in the middle 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: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder 5- Pick up the knife 6- Put the plastic knife in pen stand Q: immediate next step? \u003cPRED\u003eA: Put the knife in the middle holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the knife in the middle 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":"17725614921291745316.mp4"}
+{"uid":"16650642166733676585","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box 6- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- move the box middle of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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 block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"13242876085598874234.mp4"}
+{"uid":"8779519093312669976","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown chip bag in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14904119373154913358.mp4"}
+{"uid":"9769192313657125740","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you wipe off the mini table? Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue on the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue on the counter\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you wipe off the mini table?. last 20 steps: 1- Put the tissue on the counter Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 wipe off the mini table?. last 20 steps: 1- Put the tissue on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue on the counter 2- Put the tissue on the counter 3- Put the tissues on the table 4- Wipe the table 5- Put the tissues in the dustbin\n\u003c/PRED\u003e","video":"1744827321932873539.mp4"}
+{"uid":"9738707430998943736","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put plastic spoons in the black glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut plastic spoons in the black glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons Q: immediate next step? \u003cPRED\u003eA: Put plastic spoons in the black glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Put plastic spoons in the black glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put plastic spoons in the black glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons Q: next 5 steps? \u003cPRED\u003eA: 1- Put plastic spoons in the black glass 2- Pick up the knife 3- Put the plastic knife in pen stand 4- Pick up the plastic knife 5- Put the plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut plastic spoons in the black glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7231708857129411750.mp4"}
+{"uid":"15380260667516414681","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the plastic forks\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic forks\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the plastic forks Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic forks\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the plastic forks\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the plastic forks 2- Pick up the spoons 3- Put the spoons in the left holder 4- Pick up the knife 5- Put the plastic knife in pen stand\n\u003c/PRED\u003e","video":"9627154927329143870.mp4"}
+{"uid":"14683085827579676994","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissues 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: Put the tissues in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you wipe off the mini table?. last 20 steps: 1- Put the tissue on the counter 2- Put the tissue on the counter 3- Put the tissue on the counter 4- Put the tissues on the table 5- Wipe the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissues in the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you wipe off the mini table? Q: immediate next step? \u003cPRED\u003eA: Put the tissues in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tissues in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissues in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you wipe off the mini table?. last 20 steps: 1- Put the tissue on the counter 2- Put the tissue on the counter 3- Put the tissue on the counter 4- Put the tissues on the table 5- Wipe the table Q: immediate next step? \u003cPRED\u003eA: Put the tissues in the dustbin\n\u003c/PRED\u003e","video":"10298069555992163165.mp4"}
+{"uid":"13801951864937291796","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled my water in the MK. Can you clean it up with napkins?. last 20 steps: 1- place tissue paper on the table Q: immediate next step? \u003cPRED\u003eA: wipe the water with tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe the water with tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I spilled my water in the MK. Can you clean it up with napkins? Q: immediate next step? \u003cPRED\u003eA: wipe the water with tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe the water with tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I spilled my water in the MK. Can you clean it up with napkins?. last 20 steps: 1- place tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- wipe the water with tissue paper 2- place tissue paper on the table 3- wipe the water with tissue paper 4- place tissue paper in the recycle bin 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwipe the water with tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwipe the water with tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place tissue paper on the table\n\u003c/PRED\u003e","video":"10013913326319724859.mp4"}
+{"uid":"9327578697186439749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chip bag 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":"16029636195919732848.mp4"}
+{"uid":"5741093684149228574","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":"3719656096403608340.mp4"}
+{"uid":"3933449954867835747","text":"\u003ctask:success:discrete:False\u003e\nPick up plastic knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Pick up plastic knife\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder Q: immediate next step? \u003cPRED\u003eA: Pick up plastic knife\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up plastic knife\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks 2- Put the forks in the right holder 3- Pick up the spoons 4- Put the spoons in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up plastic knife 2- Put the plastic knife in pen stand 3- Pick up the plastic knife 4- Put the plastic knife in pen stand 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up plastic knife\n\u003c/PRED\u003e","video":"4969664617503456882.mp4"}
+{"uid":"3870517281582778773","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort the utensils in the containers Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks Q: next 5 steps? \u003cPRED\u003eA: 1- Put the forks in the right holder 2- Pick up the spoons 3- Put the spoons in the left holder 4- Pick up the knife 5- Put the plastic knife in pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort the utensils in the containers. last 20 steps: 1- Pick up the forks Q: immediate next step? \u003cPRED\u003eA: Put the forks in the right holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the forks in the right 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 forks in the right 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":"4812932862734381314.mp4"}
+{"uid":"1413052981643684389","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5152372470937912455.mp4"}
+{"uid":"6687943145765619452","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput block 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":"17258185383784523153.mp4"}
+{"uid":"3431940299417400380","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut yellow candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9463525070195651625.mp4"}
+{"uid":"13550110260863043445","text":"\u003ctask:success:discrete:False\u003e\nWipe the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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\nWipe the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 wipe off the mini table?. last 20 steps: 1- Put the tissue on the counter 2- Put the tissue on the counter 3- Put the tissue on the counter 4- Put the tissues on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Wipe the table 2- Put the tissues in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you wipe off the mini table?. last 20 steps: 1- Put the tissue on the counter 2- Put the tissue on the counter 3- Put the tissue on the counter 4- Put the tissues on the table Q: immediate next step? \u003cPRED\u003eA: Wipe the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you wipe off the mini table? Q: immediate next step? \u003cPRED\u003eA: Wipe the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Wipe the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Wipe the table\n\u003c/PRED\u003e","video":"4236216393203998646.mp4"}
+{"uid":"11977880588606424874","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tissues in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tissues 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you wipe off the mini table?. last 20 steps: 1- Put the tissue on the counter 2- Put the tissue on the counter 3- Put the tissue on the counter 4- Put the tissues on the table 5- Wipe the table 6- Put the tissues in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you wipe off the mini table?. last 20 steps: 1- Put the tissue on the counter 2- Put the tissue on the counter 3- Put the tissue on the counter 4- Put the tissues on the table 5- Wipe the table 6- Put the tissues in the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you wipe off the mini table? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17311885667939682789.mp4"}
+{"uid":"8335225358525312310","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue on the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue on the counter\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you wipe off the mini table?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you wipe off the mini table?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue on the counter 2- Put the tissue on the counter 3- Put the tissue on the counter 4- Put the tissues on the table 5- Wipe the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you wipe off the mini table? Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 tissue on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4360166343892035819.mp4"}
+{"uid":"15042648913137492478","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue on the counter\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you wipe off the mini table? Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you wipe off the mini table?. last 20 steps: 1- Put the tissue on the counter 2- Put the tissue on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue on the counter 2- Put the tissues on the table 3- Wipe the table 4- Put the tissues in the dustbin 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you wipe off the mini table?. last 20 steps: 1- Put the tissue on the counter 2- Put the tissue on the counter Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the counter\n\u003c/PRED\u003e","video":"202032121996089671.mp4"}
+{"uid":"15028828924435348733","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"15184307581631974947.mp4"}
+{"uid":"6232863289081842092","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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 block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks back into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks back into the box. last 20 steps: 1- put block in the box 2- put block in the box 3- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e","video":"9312193851129615.mp4"}
+{"uid":"16408493704839409893","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the knife\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the knife Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8775978672542810553.mp4"}
+{"uid":"18359040894349967681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black 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":"4633166367994254428.mp4"}
+{"uid":"9661690854666942351","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack 5- put the yellow glass on the stack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the yellow glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack 5- put the yellow glass on the stack 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 yellow glass on the stack\n\u003c/PRED\u003e","video":"2031589411572725421.mp4"}
+{"uid":"16340059410908225629","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put that popcorn in the bowl from that packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput that popcorn in the bowl from that 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":"4747654522697589242.mp4"}
+{"uid":"15872746374992372697","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the left side drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5665250716422610201.mp4"}
+{"uid":"10601295221323743215","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table Q: immediate next step? \u003cPRED\u003eA: Put orange glass on blue glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut orange glass on blue glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: Put orange glass on blue glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange glass on blue 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 orange glass on blue glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange glass on blue glass 2- put the glass on the stack 3- Push the stack 4- grab the  yellow glass 5- Put the glass on the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange glass on blue glass\n\u003c/PRED\u003e","video":"8721457481898667512.mp4"}
+{"uid":"17033304303002998930","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 glass on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass Q: immediate next step? \u003cPRED\u003eA: put the glass on the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: put the glass on the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass on the stack 2- Push the stack 3- grab the  yellow glass 4- Put the glass on the stack 5- done\n\u003c/PRED\u003e","video":"12367937338174796604.mp4"}
+{"uid":"8992544353577150570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep white 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":"15069210126979340310.mp4"}
+{"uid":"15808591802945053860","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: place that packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet Q: immediate next step? \u003cPRED\u003eA: place that packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that 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: pour the popcorn into the bowl. last 20 steps: 1- pick the packet Q: next 5 steps? \u003cPRED\u003eA: 1- place that packet on the table 2- put the popcorn in the bowl 3- put the popcorn in the bowl 4- Put the popcorn in the paper bowl 5- Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that packet on the table\n\u003c/PRED\u003e","video":"8256212918316778605.mp4"}
+{"uid":"8614254168091681520","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9064238196146855157.mp4"}
+{"uid":"16543795138452735919","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the popcorn in the paper bowl 2- Put the popcorn in the paper bowl 3- Put the popcorn in the paper bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the popcorn in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e","video":"9879990805997290873.mp4"}
+{"uid":"2287255956937629438","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3194656399961986395.mp4"}
+{"uid":"1022676198935282392","text":"\u003ctask:success:discrete:True\u003e\nPut the popcorn in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e","video":"17420774242115672047.mp4"}
+{"uid":"3943537422531931359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet 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":"12523503378186556236.mp4"}
+{"uid":"15965035125161468021","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack Q: immediate next step? \u003cPRED\u003eA: stack the yellow glass on the orange glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the yellow glass on the orange glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the yellow glass on the orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack Q: next 5 steps? \u003cPRED\u003eA: 1- stack the yellow glass on the orange glass 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the yellow glass on the orange 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: stack the yellow glass on the orange glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: stack the yellow glass on the orange glass\n\u003c/PRED\u003e","video":"7482256399342636676.mp4"}
+{"uid":"13905794915248611765","text":"\u003ctask:success:discrete:True\u003e\nput the blue glass upside down 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 blue glass upside down on the table\n\u003c/PRED\u003e","video":"13960540229338358970.mp4"}
+{"uid":"10189279658700601340","text":"\u003ctask:success:discrete:True\u003e\nplace the dropped popcorn in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the dropped popcorn in the bowl\n\u003c/PRED\u003e","video":"9376484906072801275.mp4"}
+{"uid":"3320510981401751025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bottle on table 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":"890231108381887621.mp4"}
+{"uid":"3379156513980783980","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Place the empty packet on the table 2- put the popcorn into the paper bowl 3- put the popcorn in the bowl 4- put the popcorn in the bowl 5- Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the empty packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the empty packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet Q: immediate next step? \u003cPRED\u003eA: Place the empty packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the empty packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: Place the empty packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the empty packet on the table\n\u003c/PRED\u003e","video":"13772879436498095634.mp4"}
+{"uid":"10191087743864818257","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":"4473049411162606262.mp4"}
+{"uid":"5157011993129972212","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white cover in the white 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":"2691372577897382512.mp4"}
+{"uid":"12612730663510163415","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp 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":"5466762343898323812.mp4"}
+{"uid":"5256259426702623050","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl 5- put the popcorn in the bowl 6- Place the dropped popcorn in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl 5- put the popcorn in the bowl 6- Place the dropped popcorn in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the dropped popcorn in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3313012710760899647.mp4"}
+{"uid":"8000498686428507023","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the metal binder 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":"14665189487366729242.mp4"}
+{"uid":"4352255626020542610","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl 5- put the popcorn in the bowl 6- Put the popcorn in the paper bowl 7- Put the popcorn in the paper bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl 5- put the popcorn in the bowl 6- Put the popcorn in the paper bowl 7- Put the popcorn in the paper bowl 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 popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the popcorn in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8213990498655713080.mp4"}
+{"uid":"7469362614963144706","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":"1359993465311250696.mp4"}
+{"uid":"5240381833070229289","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Push the stack 2- grab the  yellow glass 3- Put the glass on the stack 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack Q: immediate next step? \u003cPRED\u003eA: Push the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: Push the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 stack\n\u003c/PRED\u003e","video":"1653567420695663328.mp4"}
+{"uid":"11597485171783347759","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bottom  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":"12605991971312977505.mp4"}
+{"uid":"11225680941363282835","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":"7947371150279917518.mp4"}
+{"uid":"1853233493421739911","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":"16386148078254894853.mp4"}
+{"uid":"13664009988336257761","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack 5- stack the yellow glass on the orange glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the yellow glass on the orange glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the yellow glass on the orange 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack 5- stack the yellow glass on the orange glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6500461871220222715.mp4"}
+{"uid":"8465356044146589591","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet Q: immediate next step? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn 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 popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn in the bowl 2- put the popcorn in the bowl 3- put the popcorn in the bowl 4- Put the popcorn in the paper bowl 5- Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the popcorn in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e","video":"916260502083356259.mp4"}
+{"uid":"13233335901268196197","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue glass upside down on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue glass upside down 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":"2251521456246646204.mp4"}
+{"uid":"1166617167448901451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red 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":"10993015790514544982.mp4"}
+{"uid":"12428482045488122203","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7097398412839817814.mp4"}
+{"uid":"6003967963927134702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop apple 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":"5214058850533013209.mp4"}
+{"uid":"12116014353749017000","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":"10647036906331577276.mp4"}
+{"uid":"6436523022538211835","text":"\u003ctask:success:discrete:True\u003e\nplace the light orange glass on the blue glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the light orange glass on the blue glass\n\u003c/PRED\u003e","video":"4460510942109905919.mp4"}
+{"uid":"15527437716893289259","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: grab the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab 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 stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass Q: immediate next step? \u003cPRED\u003eA: grab the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass Q: next 5 steps? \u003cPRED\u003eA: 1- grab the glass 2- Push the stack 3- grab the  yellow glass 4- Put the glass on the stack 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the glass\n\u003c/PRED\u003e","video":"13336272000393903775.mp4"}
+{"uid":"1093402603399848316","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the dropped popcorn in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet Q: immediate next step? \u003cPRED\u003eA: place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the dropped popcorn 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: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet Q: next 5 steps? \u003cPRED\u003eA: 1- place the dropped popcorn in the bowl 2- put the popcorn in the bowl 3- Put the popcorn in the paper bowl 4- Put the popcorn in the paper bowl 5- done\n\u003c/PRED\u003e","video":"11491066808185106509.mp4"}
+{"uid":"5711371822536275079","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the glass on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the glass on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glass on the stack 2- Push the stack 3- grab the  yellow glass 4- Put the glass on the stack 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: Put the glass on the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass Q: immediate next step? \u003cPRED\u003eA: Put the glass on the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the glass on the stack\n\u003c/PRED\u003e","video":"1028379270446051521.mp4"}
+{"uid":"14320520568190084714","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":"15356558872734048241.mp4"}
+{"uid":"8299343965119054781","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the dropped popcorn 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: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl 5- put the popcorn in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the dropped popcorn in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl 5- put the popcorn in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: Place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the dropped popcorn in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14028940234876880192.mp4"}
+{"uid":"10116707963934870468","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow glass on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow glass on the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack Q: immediate next step? \u003cPRED\u003eA: put the yellow glass on the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: put the yellow glass on the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow glass on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow glass on the stack 2- done\n\u003c/PRED\u003e","video":"12310943764618958863.mp4"}
+{"uid":"589879314295703602","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the light orange glass on the blue glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the light orange glass on the blue glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the light orange glass on the blue glass 2- put the glass on the stack 3- Push the stack 4- grab the  yellow glass 5- Put the glass on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the light orange glass on the blue 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\nplace the light orange glass on the blue 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 stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: place the light orange glass on the blue glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table Q: immediate next step? \u003cPRED\u003eA: place the light orange glass on the blue glass\n\u003c/PRED\u003e","video":"7273867917192869183.mp4"}
+{"uid":"14654897210082355533","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the orange glass on the blue glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: stack the orange glass on the blue glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the orange glass on the blue glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the orange glass on the blue 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 stack the cups upside down. last 20 steps: 1- place the glass up side down on the table Q: immediate next step? \u003cPRED\u003eA: stack the orange glass on the blue glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table Q: next 5 steps? \u003cPRED\u003eA: 1- stack the orange glass on the blue glass 2- put the glass on the stack 3- Push the stack 4- grab the  yellow glass 5- Put the glass on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the orange glass on the blue 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":"13604772185008882417.mp4"}
+{"uid":"17546057884158092932","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put that popcorn in the bowl from that packet 2- put the popcorn into the paper bowl 3- put the popcorn in the bowl 4- put the popcorn in the bowl 5- Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put that popcorn in the bowl from that packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput that popcorn in the bowl from that 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: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: put that popcorn in the bowl from that packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput that popcorn in the bowl from that packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put that popcorn in the bowl from that packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put that popcorn in the bowl from that packet\n\u003c/PRED\u003e","video":"15925595261568504319.mp4"}
+{"uid":"1861578265084383733","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the orange glass on the blue glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the orange glass on the blue glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17568607744212549983.mp4"}
+{"uid":"13330785469494479139","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":"6749171372603142670.mp4"}
+{"uid":"6109919553231977932","text":"\u003ctask:success:discrete:True\u003e\nput the popcorn 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 popcorn in the bowl\n\u003c/PRED\u003e","video":"8230784534580175248.mp4"}
+{"uid":"7518770219031609554","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the popcorn in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl Q: immediate next step? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the popcorn in the paper bowl 2- put the popcorn in the bowl 3- Put the popcorn in the paper bowl 4- Put the popcorn in the paper bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the popcorn in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3699020167538863396.mp4"}
+{"uid":"208398953645357106","text":"\u003ctask:success:discrete:True\u003e\npick 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 the packet\n\u003c/PRED\u003e","video":"4321988585710538358.mp4"}
+{"uid":"5515608612813180644","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14433310588885652674.mp4"}
+{"uid":"2804208824909535163","text":"\u003ctask:success:discrete:True\u003e\nput the popcorn into the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the popcorn into the paper bowl\n\u003c/PRED\u003e","video":"6647392196132777997.mp4"}
+{"uid":"15990894655293661481","text":"\u003ctask:success:discrete:True\u003e\nPour the popcorn in the bowl from 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: Pour the popcorn in the bowl from packet\n\u003c/PRED\u003e","video":"1089900912928739046.mp4"}
+{"uid":"6717490179871630045","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pour the popcorn in the bowl from packet 2- put the popcorn into the paper bowl 3- put the popcorn in the bowl 4- put the popcorn in the bowl 5- Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPour the popcorn in the bowl from 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: Pour the popcorn in the bowl from packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pour the popcorn in the bowl from packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pour the popcorn in the bowl from packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPour the popcorn in the bowl from 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: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: Pour the popcorn in the bowl from packet\n\u003c/PRED\u003e","video":"11671480601958638016.mp4"}
+{"uid":"10111693478745030490","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the empty packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the empty 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":"2872541978177059475.mp4"}
+{"uid":"13376275795142974220","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a 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":"5451074860148730239.mp4"}
+{"uid":"3892590682920619905","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl Q: immediate next step? \u003cPRED\u003eA: place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the dropped popcorn in the bowl 2- put the popcorn in the bowl 3- Put the popcorn in the paper bowl 4- Put the popcorn in the paper bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the dropped popcorn in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the dropped popcorn in the bowl\n\u003c/PRED\u003e","video":"17320730951528270800.mp4"}
+{"uid":"13836195937101513092","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":"10755642149450255813.mp4"}
+{"uid":"16373134776184265870","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the glass on the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3142008188469321499.mp4"}
+{"uid":"16910356576467457613","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow colored marker pen 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":"8682861392235898590.mp4"}
+{"uid":"1338584551189610577","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut blue cup 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":"5742761334954709821.mp4"}
+{"uid":"14015556065668113116","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place that packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace that 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":"1786515472045308741.mp4"}
+{"uid":"11226505417041654531","text":"\u003ctask:success:discrete:False\u003e\nput the popcorn into the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet Q: immediate next step? \u003cPRED\u003eA: put the popcorn into the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn into the paper bowl 2- put the popcorn in the bowl 3- Put the popcorn in the paper bowl 4- Put the popcorn in the paper bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn into the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: put the popcorn into the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the popcorn into the paper bowl\n\u003c/PRED\u003e","video":"759108054784755546.mp4"}
+{"uid":"7051418307977371109","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the orange glass on the orange glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the orange glass on the orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13938371057373693147.mp4"}
+{"uid":"6154057896461116543","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the orange glass on the orange glass 2- Push the stack 3- grab the  yellow glass 4- Put the glass on the stack 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the orange glass on the orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the orange glass on the orange glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: stack the orange glass on the orange glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the orange glass on the orange 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: stack the orange glass on the orange glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass Q: immediate next step? \u003cPRED\u003eA: stack the orange glass on the orange glass\n\u003c/PRED\u003e","video":"13764742478209117505.mp4"}
+{"uid":"3297837248604862690","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the glass on the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack 5- grab the  yellow glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glass on the stack 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: Put the glass on the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the glass on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack 5- grab the  yellow glass Q: immediate next step? \u003cPRED\u003eA: Put the glass on the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the glass on the stack\n\u003c/PRED\u003e","video":"6741478813829934594.mp4"}
+{"uid":"9999043302777075084","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the popcorn 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":"930253778010562862.mp4"}
+{"uid":"6101576470135133507","text":"\u003ctask:success:discrete:True\u003e\ngrab the  yellow 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: grab the  yellow glass\n\u003c/PRED\u003e","video":"3285602818679322710.mp4"}
+{"uid":"10846508076157398516","text":"\u003ctask:success:discrete:True\u003e\ngrab 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: grab the glass\n\u003c/PRED\u003e","video":"12157950074935211040.mp4"}
+{"uid":"17737555912428867052","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the empty packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the empty packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the empty packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Put the empty packet on the table 2- put the popcorn into the paper bowl 3- put the popcorn in the bowl 4- put the popcorn in the bowl 5- Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the empty 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\nPut the empty packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet Q: immediate next step? \u003cPRED\u003eA: Put the empty packet on the table\n\u003c/PRED\u003e","video":"1344753364963676135.mp4"}
+{"uid":"18410025254795152606","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn in the bowl 2- Put the popcorn in the paper bowl 3- Put the popcorn in the paper bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn 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: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet Q: immediate next step? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e","video":"2830512626015256941.mp4"}
+{"uid":"10787603908195439359","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn in the bowl 2- Put the popcorn in the paper bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl Q: immediate next step? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn 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":"2504393907605931646.mp4"}
+{"uid":"9833563050154027517","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":"4838868361146941890.mp4"}
+{"uid":"1719965671667965113","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the popcorn in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the popcorn in the paper bowl 2- Put the popcorn in the paper bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e","video":"7433537143352748948.mp4"}
+{"uid":"2855952194994253356","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the popcorn in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the popcorn in the paper bowl 2- put the popcorn into the paper bowl 3- put the popcorn in the bowl 4- put the popcorn in the bowl 5- Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the popcorn in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e","video":"2610620122004325834.mp4"}
+{"uid":"8539808583861646227","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl 5- put the popcorn in the bowl 6- Put the popcorn in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the popcorn in the paper bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl 5- put the popcorn in the bowl 6- Put the popcorn in the paper bowl Q: immediate next step? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the popcorn in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11503050584935319056.mp4"}
+{"uid":"5202313137571461069","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue glass upside down on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue glass upside down 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 stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: Put the blue glass upside down on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the blue glass upside down on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue glass upside down 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 blue glass upside down on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue glass upside down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack 5- grab the  yellow glass\n\u003c/PRED\u003e","video":"7818836943993979130.mp4"}
+{"uid":"6401812670007915665","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3157290061095436381.mp4"}
+{"uid":"4820654589504773795","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put orange glass on blue glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut orange glass on blue glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9267504651430637539.mp4"}
+{"uid":"11312152876408296617","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":"12096755539182002474.mp4"}
+{"uid":"7359360712484681416","text":"\u003ctask:success:discrete:True\u003e\nPut the empty 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 empty packet on the table\n\u003c/PRED\u003e","video":"5206273333223683902.mp4"}
+{"uid":"11777187978013240337","text":"\u003ctask:success:discrete:True\u003e\nplace the glass up side down 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 up side down on the table\n\u003c/PRED\u003e","video":"5388363598038747815.mp4"}
+{"uid":"7742483816731663046","text":"\u003ctask:success:discrete:True\u003e\nPut the popcorn in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e","video":"6303687915648722625.mp4"}
+{"uid":"5021273131758790580","text":"\u003ctask:success:discrete:True\u003e\nPut the popcorn in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the popcorn in the paper bowl\n\u003c/PRED\u003e","video":"10507495722968198477.mp4"}
+{"uid":"5624032276787103335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8599053802707958789.mp4"}
+{"uid":"3448127723222704423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the coca cola yellow in third 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":"16270150231922363224.mp4"}
+{"uid":"1262771709965916328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16215802447950245932.mp4"}
+{"uid":"17629461138975470275","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack 5- grab the  yellow glass 6- Put the glass on the stack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack 5- grab the  yellow glass 6- Put the glass on the stack Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the glass on the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 stack\n\u003c/PRED\u003e","video":"3638062508348622106.mp4"}
+{"uid":"14310364532377342705","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the 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":"16263650580435629161.mp4"}
+{"uid":"11756601637573642659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen 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":"13544973214242967862.mp4"}
+{"uid":"5872074135050291091","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn 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: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl 5- put the popcorn in the bowl Q: immediate next step? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl 5- put the popcorn in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn in the bowl 2- Put the popcorn in the paper bowl 3- done\n\u003c/PRED\u003e","video":"9919882059768901149.mp4"}
+{"uid":"8596308978662729662","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the dropped popcorn in the bowl 2- Put the popcorn in the paper bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl. last 20 steps: 1- pick the packet 2- put that popcorn in the bowl from that packet 3- put the popcorn into the paper bowl 4- put the popcorn in the bowl Q: immediate next step? \u003cPRED\u003eA: place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pour the popcorn into the bowl Q: immediate next step? \u003cPRED\u003eA: place the dropped popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the dropped popcorn in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the dropped popcorn in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6359363328352635022.mp4"}
+{"uid":"7744847139641466412","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bean 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":"13061128069360450579.mp4"}
+{"uid":"14677924669167249850","text":"\u003ctask:success:discrete:False\u003e\ngrab the  yellow 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\ngrab the  yellow 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: grab the  yellow glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: grab the  yellow glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack Q: next 5 steps? \u003cPRED\u003eA: 1- grab the  yellow glass 2- Put the glass on the stack 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: 1- place the glass up side down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack Q: immediate next step? \u003cPRED\u003eA: grab the  yellow glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the  yellow glass\n\u003c/PRED\u003e","video":"15304992801581195567.mp4"}
+{"uid":"7440309308118920192","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the popcorn in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the popcorn 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":"14341738951482942354.mp4"}
+{"uid":"8079369797518206856","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue glass upside down on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the blue glass upside down on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue glass upside down on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue glass upside down 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 blue glass upside down on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack the cups upside down Q: immediate next step? \u003cPRED\u003eA: put the blue glass upside down on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack the cups upside down. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue glass upside down on the table 2- Put orange glass on blue glass 3- put the glass on the stack 4- Push the stack 5- grab the  yellow glass\n\u003c/PRED\u003e","video":"2817660931346056446.mp4"}
+{"uid":"12101005538657363758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sanitizer bottle in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16787798864340653424.mp4"}
+{"uid":"14248555501105027928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4035528020757357374.mp4"}
+{"uid":"7253581396627101804","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":"9698731658957004193.mp4"}
+{"uid":"3435500501744163097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the screen cleaning wipe sachets in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7869883138382206893.mp4"}
+{"uid":"7324742971826542498","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7246413971184826790.mp4"}
+{"uid":"17919670168788987003","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"7331175375524247783.mp4"}
+{"uid":"13702425630705143645","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue black 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 blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue black 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue black can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e","video":"7219549104568440704.mp4"}
+{"uid":"12207430058504454186","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"10758286280827108300.mp4"}
+{"uid":"4467997794862625094","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2468651080694888311.mp4"}
+{"uid":"386515008865265044","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12545313795692454440.mp4"}
+{"uid":"4126854341845668430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white book in shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11121515728049171571.mp4"}
+{"uid":"16048359690628549674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bowl on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1287678525980805908.mp4"}
+{"uid":"11760840382821891101","text":"\u003ctask:success:discrete:False\u003e\nmove the packet backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the packet backward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: move the packet backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: move the packet backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the packet backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the packet backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- move the packet backward 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket\n\u003c/PRED\u003e","video":"14177422398904562035.mp4"}
+{"uid":"6998876420732499097","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":"15488892284425367050.mp4"}
+{"uid":"14226148224919889720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13432696430840289847.mp4"}
+{"uid":"2326377876164577572","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntouch a pista Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1482489643539772621.mp4"}
+{"uid":"8993094038169721788","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2368456477363765183.mp4"}
+{"uid":"17872854408027201953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the book in trolley 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":"6770682857283938851.mp4"}
+{"uid":"16464304938859340843","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  pink packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3907626873080462016.mp4"}
+{"uid":"11321741333514641148","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up sanitizer 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":"3493825898931715894.mp4"}
+{"uid":"2922662340566382464","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"7126565120297095374.mp4"}
+{"uid":"8091087265791718642","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e","video":"3609833875217899796.mp4"}
+{"uid":"3826703395561969701","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":"13072198243474422139.mp4"}
+{"uid":"4988957419680588012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in a 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":"18014330877259878245.mp4"}
+{"uid":"10805631090031687481","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":"17135040538531654311.mp4"}
+{"uid":"13157902736602998773","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":"4279340178651881437.mp4"}
+{"uid":"3909568405301131120","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- put blue can on table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew 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 cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"2621986111308850046.mp4"}
+{"uid":"1232736890173805233","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- Place the cold brew can on the table 7- Put the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- Place the cold brew can on the table 7- Put the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"13463182332167183347.mp4"}
+{"uid":"13844775190668350548","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue black can on the table 2- put blue can on table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17622107966787504887.mp4"}
+{"uid":"10025630163031505636","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":"7439167153245887999.mp4"}
+{"uid":"6448483250834893090","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- Place the cold brew can on the table 7- Put the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- Place the cold brew can on the table 7- Put the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"2051836435906930136.mp4"}
+{"uid":"1746705730662653557","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Put the blue black can on the table 3- put blue can on table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"3409502127215772080.mp4"}
+{"uid":"5447682708349507566","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Place the cold brew can on the table 3- Put the blue black can on the table 4- put blue can on table 5- done\n\u003c/PRED\u003e","video":"18080812230914490742.mp4"}
+{"uid":"16839523083384516787","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"3567375227201091747.mp4"}
+{"uid":"3957464389226049698","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Put the blue black 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 blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue black can on the table 2- Place the cold brew can on the table 3- Put the blue black can on the table 4- put blue can on table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4870051042016046207.mp4"}
+{"uid":"4340014109705319789","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue black can on the table 2- Put the blue black can on the table 3- put blue can on table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue black 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 blue black can on the table\n\u003c/PRED\u003e","video":"6067568598725213562.mp4"}
+{"uid":"17432126493691235808","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Put the blue black can on the table 5- put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"14881468395320791929.mp4"}
+{"uid":"5535863019924067826","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Put the blue black can on the table 5- put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"677654360901019668.mp4"}
+{"uid":"6986859042164671170","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- put blue can on table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"10606051278334993501.mp4"}
+{"uid":"9009105413466985362","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":"12170862530946077259.mp4"}
+{"uid":"8799154176430376143","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the basket 2- move the packet backward 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- place the packet in the basket 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the basket 2- move the packet backward 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e","video":"9472671227454129302.mp4"}
+{"uid":"1142219364892894646","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"554025832226357552.mp4"}
+{"uid":"2444485103046939650","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Put the blue black can on the table 5- put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue black 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 blue black 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 blue black can on the table\n\u003c/PRED\u003e","video":"3104515701550312710.mp4"}
+{"uid":"3238403731003474239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow chocolate in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10007485542674304391.mp4"}
+{"uid":"13434185785903624041","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e","video":"11741819564594144710.mp4"}
+{"uid":"8849236473605424255","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew 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 cold brew can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cold brew can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13002732464112527998.mp4"}
+{"uid":"17829860402342392706","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":"6140095055867040286.mp4"}
+{"uid":"15857373446382822675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18007261989693494823.mp4"}
+{"uid":"13313504584052954807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7534484900417543111.mp4"}
+{"uid":"18209775720617025332","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Place the cold brew can on the table 3- Put the blue black can on the table 4- put blue can on table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"15672145680092483948.mp4"}
+{"uid":"12322849341652855422","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown packet in the left 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":"768772720385688651.mp4"}
+{"uid":"15534226604950202865","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can 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":"17606119735909251882.mp4"}
+{"uid":"11515130735393864259","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink candy 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":"9846843649966705319.mp4"}
+{"uid":"9421361922739380274","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the basket 2- move the packet backward 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket 6- place the packet in the basket 7- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the basket 2- move the packet backward 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket 6- place the packet in the basket 7- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1682115540772169411.mp4"}
+{"uid":"15371354116816457801","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e","video":"6529840902704066200.mp4"}
+{"uid":"10981260063249525636","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue black can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue black 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 blue black can on the table\n\u003c/PRED\u003e","video":"4838731635998015966.mp4"}
+{"uid":"12260407397603676564","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- move the packet backward 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e","video":"17410507718727855430.mp4"}
+{"uid":"11029058712798548656","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew 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 cold brew 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 cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- put blue can on table 4- done\n\u003c/PRED\u003e","video":"8669208683519155232.mp4"}
+{"uid":"13135087754568115078","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":"15736003110776292331.mp4"}
+{"uid":"6162016765782489601","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the basket 2- move the packet backward 3- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the basket 2- move the packet backward 3- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e","video":"7792788740227850828.mp4"}
+{"uid":"6483166822742104763","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the basket 2- move the packet backward 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket 6- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the basket 2- move the packet backward 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket 6- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- done\n\u003c/PRED\u003e","video":"8464072854709986133.mp4"}
+{"uid":"15814784316047849795","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17694059310222146339.mp4"}
+{"uid":"15297473622930669240","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- Place the cold brew can on the table 7- Put the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue black can on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table 6- Place the cold brew can on the table 7- Put the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: Put the blue black 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 blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17861296657240268314.mp4"}
+{"uid":"15299901263141822762","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew 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 cold brew can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17432682468512853852.mp4"}
+{"uid":"14456084555184200508","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the basket 2- move the packet backward 3- place the packet in the basket 4- place the packet in the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the basket 2- move the packet backward 3- place the packet in the basket 4- place the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- done\n\u003c/PRED\u003e","video":"15837278333563173871.mp4"}
+{"uid":"15536101257391872251","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the basket 2- move the packet backward Q: immediate next step? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the basket 2- move the packet backward Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the basket 2- place the packet in the basket 3- place the packet in the basket 4- place the packet in the basket 5- place the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the basket\n\u003c/PRED\u003e","video":"18264524060678452538.mp4"}
+{"uid":"3974034413138793572","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cold brew can on the table 2- Place the cold brew can on the table 3- Place the cold brew can on the table 4- Place the cold brew can on the table 5- Put the blue black can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove the cans from the rack. last 20 steps: 1- Place the cold brew can on the table 2- Put the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: Place the cold brew can on the table\n\u003c/PRED\u003e","video":"7435678778580438314.mp4"}
+{"uid":"2237273561857371801","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the 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":"10075555665009881822.mp4"}
+{"uid":"357049705914769207","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Push the chair into the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the chair into the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table Q: next 5 steps? \u003cPRED\u003eA: 1- Push the chair into the table 2- move back 3- move to the left 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the chair into the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table Q: immediate next step? \u003cPRED\u003eA: Push the chair into the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the chair into the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16610589066267546484.mp4"}
+{"uid":"6814023732828382311","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the table 2- slightly move forward 3- release the cap on the table 4- slightly move your arm up 5- turn to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left Q: immediate next step? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17821302461337331825.mp4"}
+{"uid":"18221207990434048376","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2340612047727797473.mp4"}
+{"uid":"18262438322560626064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"18220510786262819635.mp4"}
+{"uid":"3770887837458488582","text":"\u003ctask:success:discrete:True\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e","video":"4881156469801105981.mp4"}
+{"uid":"10079886271080775846","text":"\u003ctask:success:discrete:False\u003e\nmove to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the right 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e","video":"13679416060389842359.mp4"}
+{"uid":"9798455037658108211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white 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":"6421235194097609452.mp4"}
+{"uid":"13308225868479132987","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7242956041996660850.mp4"}
+{"uid":"15405484754210980130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8721400996621992562.mp4"}
+{"uid":"17996355760293711881","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: release the cap on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nrelease the cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12179751090566370140.mp4"}
+{"uid":"15165262651980387308","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move forward 2- slightly move your arm down 3- push the chair into the table 4- slightly move to the right 5- push the chair into the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e","video":"1696144700539285963.mp4"}
+{"uid":"6679040552704355405","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm up 2- slightly move forward 3- grab the cap 4- slightly turn to the left 5- move your arm downwards\n\u003c/PRED\u003e","video":"6724442234489380540.mp4"}
+{"uid":"9933476097860249231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the gripper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2556879009446191909.mp4"}
+{"uid":"5475479976829079784","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"6572272150304424448.mp4"}
+{"uid":"5131268941293167711","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right 20- push the chair into the table Q: immediate next step? \u003cPRED\u003eA: touch the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right 20- push the chair into the table Q: next 5 steps? \u003cPRED\u003eA: 1- touch the chair 2- move to the left 3- move back 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: touch the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntouch the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the chair\n\u003c/PRED\u003e","video":"4483558618306826358.mp4"}
+{"uid":"11579716763294937741","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: turn to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nturn 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move forward 2- slightly move your arm up 3- slightly move your arm up 4- slightly move forward 5- grab the cap 6- slightly turn to the left 7- move your arm downwards 8- move to the left 9- move towards the table 10- slightly move forward 11- release the cap on the table 12- slightly move your arm up 13- turn to the right 14- slightly move forward 15- slightly move your arm down 16- push the chair into the table 17- slightly move to the right 18- push the chair into the table 19- Move close to the left chair 20- move back Q: next 5 steps? \u003cPRED\u003eA: 1- turn to the left 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move forward 2- slightly move your arm up 3- slightly move your arm up 4- slightly move forward 5- grab the cap 6- slightly turn to the left 7- move your arm downwards 8- move to the left 9- move towards the table 10- slightly move forward 11- release the cap on the table 12- slightly move your arm up 13- turn to the right 14- slightly move forward 15- slightly move your arm down 16- push the chair into the table 17- slightly move to the right 18- push the chair into the table 19- Move close to the left chair 20- move back Q: immediate next step? \u003cPRED\u003eA: turn to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn to the left\n\u003c/PRED\u003e","video":"11368715683250448281.mp4"}
+{"uid":"14587919933490925877","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the cap from the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the cap from the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5467198220848806587.mp4"}
+{"uid":"5454986418788122728","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cap on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cap on the table 2- turn to the right 3- slightly move forward 4- slightly move your arm down 5- push the chair into the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward Q: immediate next step? \u003cPRED\u003eA: drop the cap on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cap on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cap on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: drop the cap on the table\n\u003c/PRED\u003e","video":"655064715900534847.mp4"}
+{"uid":"13192659188383582063","text":"\u003ctask:success:discrete:True\u003e\nmove towards the coat rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the coat rack\n\u003c/PRED\u003e","video":"7400447528187956902.mp4"}
+{"uid":"14981389793906098622","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move forward 2- slightly move your arm down 3- push the chair into the table 4- slightly move to the right 5- push the chair into the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e","video":"5372387411637566091.mp4"}
+{"uid":"4560357937297528991","text":"\u003ctask:success:discrete:True\u003e\nmove close to the coat rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the coat rack\n\u003c/PRED\u003e","video":"18445323779238870285.mp4"}
+{"uid":"12771332971869860205","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move close to the coat rack 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward 6- grab the cap 7- slightly turn to the left 8- move your arm downwards 9- move to the left 10- move towards the table 11- slightly move forward 12- release the cap on the table 13- slightly move your arm up 14- turn to the right 15- slightly move forward 16- slightly move your arm down 17- push the chair into the table 18- slightly move to the right 19- push the chair into the table 20- Move close to the left chair Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move close to the coat rack 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward 6- grab the cap 7- slightly turn to the left 8- move your arm downwards 9- move to the left 10- move towards the table 11- slightly move forward 12- release the cap on the table 13- slightly move your arm up 14- turn to the right 15- slightly move forward 16- slightly move your arm down 17- push the chair into the table 18- slightly move to the right 19- push the chair into the table 20- Move close to the left chair Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e","video":"2467574586483201228.mp4"}
+{"uid":"17855665498882906112","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":"7188035287073052275.mp4"}
+{"uid":"3933841782093908641","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7283408041372988948.mp4"}
+{"uid":"13624280943261477199","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":"17247530782570339589.mp4"}
+{"uid":"13753838970063956860","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove close to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16404092448604644373.mp4"}
+{"uid":"566468890666364883","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npush the chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right Q: immediate next step? \u003cPRED\u003eA: push the chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the chair under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the chair under the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: push the chair under the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right Q: next 5 steps? \u003cPRED\u003eA: 1- push the chair under the table 2- move back 3- move to the left 4- move back 5- done\n\u003c/PRED\u003e","video":"17965826179998046025.mp4"}
+{"uid":"15984774991120672509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the silver object in the second 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":"5441882463542414628.mp4"}
+{"uid":"5990668661872318915","text":"\u003ctask:success:discrete:False\u003e\nMove forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move forward 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e","video":"5262420356132248935.mp4"}
+{"uid":"10146862322945782157","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15590606930776484609.mp4"}
+{"uid":"9353449880691821574","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move your arm up 2- slightly move your arm up 3- slightly move forward 4- grab the cap 5- slightly turn to the left 6- move your arm downwards 7- move to the left 8- move towards the table 9- slightly move forward 10- release the cap on the table 11- slightly move your arm up 12- turn to the right 13- slightly move forward 14- slightly move your arm down 15- push the chair into the table 16- slightly move to the right 17- push the chair into the table 18- Move close to the left chair 19- move back 20- move to the left Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move your arm up 2- slightly move your arm up 3- slightly move forward 4- grab the cap 5- slightly turn to the left 6- move your arm downwards 7- move to the left 8- move towards the table 9- slightly move forward 10- release the cap on the table 11- slightly move your arm up 12- turn to the right 13- slightly move forward 14- slightly move your arm down 15- push the chair into the table 16- slightly move to the right 17- push the chair into the table 18- Move close to the left chair 19- move back 20- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e","video":"332910758358442910.mp4"}
+{"uid":"6000201896735432310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12105753820516571371.mp4"}
+{"uid":"16759549703490172684","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm down 2- move to the left 3- move towards the table 4- slightly move forward 5- release the cap on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm down\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move your arm down\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left Q: immediate next step? \u003cPRED\u003eA: move your arm down\n\u003c/PRED\u003e","video":"2069544878564811207.mp4"}
+{"uid":"162885894125471504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the stapler on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14626568222437298773.mp4"}
+{"uid":"18121612722219880334","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red 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":"10249005384884193055.mp4"}
+{"uid":"11459324459809071492","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move forward 2- release the cap on the table 3- slightly move your arm up 4- turn to the right 5- slightly move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8056728908952245626.mp4"}
+{"uid":"9683943444600979369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9338097806481234891.mp4"}
+{"uid":"7886107677091459666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packets 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":"8534585303675120716.mp4"}
+{"uid":"11852027576620763850","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5589971440960689402.mp4"}
+{"uid":"17682278835275470124","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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:success:discrete:False\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move your arm up 2- slightly move your arm up 3- slightly move forward 4- grab the cap 5- slightly turn to the left 6- move your arm downwards 7- move to the left 8- move towards the table 9- slightly move forward 10- release the cap on the table 11- slightly move your arm up 12- turn to the right 13- slightly move forward 14- slightly move your arm down 15- push the chair into the table 16- slightly move to the right 17- push the chair into the table 18- Move close to the left chair 19- move back 20- move to the left Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move your arm up 2- slightly move your arm up 3- slightly move forward 4- grab the cap 5- slightly turn to the left 6- move your arm downwards 7- move to the left 8- move towards the table 9- slightly move forward 10- release the cap on the table 11- slightly move your arm up 12- turn to the right 13- slightly move forward 14- slightly move your arm down 15- push the chair into the table 16- slightly move to the right 17- push the chair into the table 18- Move close to the left chair 19- move back 20- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- done\n\u003c/PRED\u003e","video":"6976904208467068538.mp4"}
+{"uid":"14629047544032798561","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the coat rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the coat rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the coat rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the coat rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move towards the coat rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move towards the coat rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up\n\u003c/PRED\u003e","video":"6192135406512679732.mp4"}
+{"uid":"18407487136508353520","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5305328357514744556.mp4"}
+{"uid":"15793641046850354579","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put block on the table 3- put block on the table 4- close the drawer 5- put block in 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\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":"16896756703736355174.mp4"}
+{"uid":"5435838709343307042","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cap on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15865360269875299267.mp4"}
+{"uid":"17682631398296554290","text":"\u003ctask:success:discrete:True\u003e\npush a chair into 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: push a chair into the table\n\u003c/PRED\u003e","video":"6952342605044002841.mp4"}
+{"uid":"13266481782190731707","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward Q: immediate next step? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm down 2- push the chair into the table 3- slightly move to the right 4- push the chair into the table 5- Move close to the left chair\n\u003c/PRED\u003e","video":"11974177575604572491.mp4"}
+{"uid":"3661533623675890733","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward Q: immediate next step? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move up 2- slightly move your arm up 3- slightly move forward 4- grab the cap 5- slightly turn to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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\nSlightly move up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e","video":"3645380853559983110.mp4"}
+{"uid":"7153201803939346914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the banana peel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10898376756844260626.mp4"}
+{"uid":"5540746517261937300","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":"3939123663803571512.mp4"}
+{"uid":"1165172659588069119","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove 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:success:discrete:False\u003e\nMove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move your arm up 2- slightly move your arm up 3- slightly move forward 4- grab the cap 5- slightly turn to the left 6- move your arm downwards 7- move to the left 8- move towards the table 9- slightly move forward 10- release the cap on the table 11- slightly move your arm up 12- turn to the right 13- slightly move forward 14- slightly move your arm down 15- push the chair into the table 16- slightly move to the right 17- push the chair into the table 18- Move close to the left chair 19- move back 20- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Move back 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Move back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move your arm up 2- slightly move your arm up 3- slightly move forward 4- grab the cap 5- slightly turn to the left 6- move your arm downwards 7- move to the left 8- move towards the table 9- slightly move forward 10- release the cap on the table 11- slightly move your arm up 12- turn to the right 13- slightly move forward 14- slightly move your arm down 15- push the chair into the table 16- slightly move to the right 17- push the chair into the table 18- Move close to the left chair 19- move back 20- move to the left Q: immediate next step? \u003cPRED\u003eA: Move back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move back\n\u003c/PRED\u003e","video":"1953247143224938724.mp4"}
+{"uid":"11254147415247397201","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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 back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right 20- push the chair into the table Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right 20- push the chair into the table Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- move back 3- move to the left 4- move back 5- done\n\u003c/PRED\u003e","video":"17004971954733899488.mp4"}
+{"uid":"1039697470698153377","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":"7067825124334856038.mp4"}
+{"uid":"13808755988232738132","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the plates 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":"6933170414348475078.mp4"}
+{"uid":"6749267142507424617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6500879563796954960.mp4"}
+{"uid":"1334341672785678925","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":"14929075605454537007.mp4"}
+{"uid":"92190977043480137","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the cap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward Q: immediate next step? \u003cPRED\u003eA: grab the cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: grab the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- grab the cap 2- slightly turn to the left 3- move your arm downwards 4- move to the left 5- move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7719608153684885720.mp4"}
+{"uid":"7031387552537937149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet on the counter from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10355210470801508717.mp4"}
+{"uid":"14162005484693546440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the left black pen in the trolley 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":"4636991464035263316.mp4"}
+{"uid":"9253244222242287342","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the cap on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: release the cap on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the cap on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward Q: immediate next step? \u003cPRED\u003eA: release the cap on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- release the cap on the table 2- slightly move your arm up 3- turn to the right 4- slightly move forward 5- slightly move your arm down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the cap on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4338745247580731811.mp4"}
+{"uid":"4797509995433416402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown 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":"3766398985305376952.mp4"}
+{"uid":"3082358645074780354","text":"\u003ctask:success:discrete:False\u003e\ngrab the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab 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: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- grab the cap 2- slightly turn to the left 3- move your arm downwards 4- move to the left 5- move towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward Q: immediate next step? \u003cPRED\u003eA: grab the cap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: grab the cap\n\u003c/PRED\u003e","video":"11424956033028176224.mp4"}
+{"uid":"2638412951738691654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace objects on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"337810106268930724.mp4"}
+{"uid":"68117759227851233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut  pink 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":"1315367907628168691.mp4"}
+{"uid":"8085095981741315051","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push a chair into the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down Q: immediate next step? \u003cPRED\u003eA: push a chair into the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush a chair into the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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: push a chair into the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush a chair into the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: push a chair into the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down Q: next 5 steps? \u003cPRED\u003eA: 1- push a chair into the table 2- push the chair into the table 3- Move close to the left chair 4- move back 5- move to the left\n\u003c/PRED\u003e","video":"11352840156457552949.mp4"}
+{"uid":"4937528467502864971","text":"\u003ctask:success:discrete:False\u003e\nmove to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move forward 2- slightly move your arm up 3- slightly move your arm up 4- slightly move forward 5- grab the cap 6- slightly turn to the left 7- move your arm downwards 8- move to the left 9- move towards the table 10- slightly move forward 11- release the cap on the table 12- slightly move your arm up 13- turn to the right 14- slightly move forward 15- slightly move your arm down 16- push the chair into the table 17- slightly move to the right 18- push the chair into the table 19- Move close to the left chair 20- move back Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move forward 2- slightly move your arm up 3- slightly move your arm up 4- slightly move forward 5- grab the cap 6- slightly turn to the left 7- move your arm downwards 8- move to the left 9- move towards the table 10- slightly move forward 11- release the cap on the table 12- slightly move your arm up 13- turn to the right 14- slightly move forward 15- slightly move your arm down 16- push the chair into the table 17- slightly move to the right 18- push the chair into the table 19- Move close to the left chair 20- move back Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e","video":"10745126559682120982.mp4"}
+{"uid":"11964849217750108390","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- move back 3- move to the left 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17687304644069664308.mp4"}
+{"uid":"3565500785785024297","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14975018357237812297.mp4"}
+{"uid":"9691154377653262347","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm down 2- move to the left 3- move towards the table 4- slightly move forward 5- release the cap on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left Q: immediate next step? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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\nslightly move your arm down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e","video":"7253840797876961879.mp4"}
+{"uid":"3486323388592518569","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"10894764333149905483.mp4"}
+{"uid":"1095709778647904314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic forks 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":"16329638652943386793.mp4"}
+{"uid":"15801191938259468860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bottle 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":"5281717788727649392.mp4"}
+{"uid":"3557290848489914806","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly push the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right 20- push the chair into the table Q: immediate next step? \u003cPRED\u003eA: slightly push the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly push the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly push the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly push the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly push the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right 20- push the chair into the table Q: next 5 steps? \u003cPRED\u003eA: 1- slightly push the chair 2- move to the left 3- move back 4- done\n\u003c/PRED\u003e","video":"15965571226045618139.mp4"}
+{"uid":"10134669208375843340","text":"\u003ctask:success:discrete:False\u003e\npush the chair under the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down Q: next 5 steps? \u003cPRED\u003eA: 1- push the chair under the chair 2- push the chair into the table 3- Move close to the left chair 4- move back 5- move to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the chair under the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the chair under the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the chair under the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: push the chair under the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down Q: immediate next step? \u003cPRED\u003eA: push the chair under the chair\n\u003c/PRED\u003e","video":"1357088702537118456.mp4"}
+{"uid":"13138798145020267234","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bottom left plastic glass 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":"48612512365968073.mp4"}
+{"uid":"2031747947298419958","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: move your arm to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move your arm to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm to the right 2- slightly move forward 3- slightly move your arm down 4- push the chair into the table 5- slightly move to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16125390364676085044.mp4"}
+{"uid":"11560335932748982752","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the knives in  knives 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":"3471434872762958240.mp4"}
+{"uid":"5244160989354296744","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Move close to the left chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right Q: immediate next step? \u003cPRED\u003eA: Move close to the left chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the left chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the left chair 2- move back 3- move to the left 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the left chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the left chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the left chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16131789503154940053.mp4"}
+{"uid":"440605833873908691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"16619534030007418394.mp4"}
+{"uid":"5831594367888396796","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":"3611074263429086145.mp4"}
+{"uid":"7495545200493701131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly move 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":"11307355591167162717.mp4"}
+{"uid":"635958091802543615","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7936306002967792299.mp4"}
+{"uid":"4818284539315953673","text":"\u003ctask:success:discrete:True\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e","video":"10870314030789071032.mp4"}
+{"uid":"14971137104248185009","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move close to the coat rack 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward 6- grab the cap 7- slightly turn to the left 8- move your arm downwards 9- move to the left 10- move towards the table 11- slightly move forward 12- release the cap on the table 13- slightly move your arm up 14- turn to the right 15- slightly move forward 16- slightly move your arm down 17- push the chair into the table 18- slightly move to the right 19- push the chair into the table 20- Move close to the left chair Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move close to the coat rack 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward 6- grab the cap 7- slightly turn to the left 8- move your arm downwards 9- move to the left 10- move towards the table 11- slightly move forward 12- release the cap on the table 13- slightly move your arm up 14- turn to the right 15- slightly move forward 16- slightly move your arm down 17- push the chair into the table 18- slightly move to the right 19- push the chair into the table 20- Move close to the left chair Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- move back 3- done\n\u003c/PRED\u003e","video":"4457251348847369137.mp4"}
+{"uid":"7278638664866449799","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right 20- push the chair into the table Q: immediate next step? \u003cPRED\u003eA: slightly push the chair under the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly push the chair under the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right 20- push the chair into the table Q: next 5 steps? \u003cPRED\u003eA: 1- slightly push the chair under the table 2- move to the left 3- move back 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly push the chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly push the chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly push the chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly push the chair under the table\n\u003c/PRED\u003e","video":"7180507580523273479.mp4"}
+{"uid":"12158614950211594485","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- move to the right 2- slightly move forward 3- slightly move your arm down 4- push the chair into the table 5- slightly move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e","video":"13191034921588772084.mp4"}
+{"uid":"14006176010989337547","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left 2- move towards the table 3- slightly move forward 4- release the cap on the table 5- slightly move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e","video":"4091286770996454793.mp4"}
+{"uid":"13067883569095959003","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward Q: immediate next step? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm forward 2- slightly move your arm up 3- slightly move forward 4- grab the cap 5- slightly turn to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e","video":"9066710376086401939.mp4"}
+{"uid":"8685286364784881264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet into 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":"4122882572666104592.mp4"}
+{"uid":"11243715678135231585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"285086540957965129.mp4"}
+{"uid":"9779697454328871826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the Cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12194447812666269251.mp4"}
+{"uid":"13688447009696687850","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":"9995333020777153700.mp4"}
+{"uid":"16699318070543968119","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right 20- push the chair into the table Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- move back 3- move to the left 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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 back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right 20- push the chair into the table Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove 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","video":"15219276236227199825.mp4"}
+{"uid":"17014751438263626327","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":"10900543260143393984.mp4"}
+{"uid":"12223106565952537960","text":"\u003ctask:success:discrete:True\u003e\nslightly move your arm down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e","video":"14442871623863958382.mp4"}
+{"uid":"17972698098264156552","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nturn to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move forward 2- slightly move your arm up 3- slightly move your arm up 4- slightly move forward 5- grab the cap 6- slightly turn to the left 7- move your arm downwards 8- move to the left 9- move towards the table 10- slightly move forward 11- release the cap on the table 12- slightly move your arm up 13- turn to the right 14- slightly move forward 15- slightly move your arm down 16- push the chair into the table 17- slightly move to the right 18- push the chair into the table 19- Move close to the left chair 20- move back Q: immediate next step? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move forward 2- slightly move your arm up 3- slightly move your arm up 4- slightly move forward 5- grab the cap 6- slightly turn to the left 7- move your arm downwards 8- move to the left 9- move towards the table 10- slightly move forward 11- release the cap on the table 12- slightly move your arm up 13- turn to the right 14- slightly move forward 15- slightly move your arm down 16- push the chair into the table 17- slightly move to the right 18- push the chair into the table 19- Move close to the left chair 20- move back Q: next 5 steps? \u003cPRED\u003eA: 1- turn to the right 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e","video":"5700114765285431502.mp4"}
+{"uid":"17134783529712374626","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly turn to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap Q: immediate next step? \u003cPRED\u003eA: slightly turn to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly turn to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly turn 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:success:discrete:False\u003e\nslightly turn to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly turn to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap Q: next 5 steps? \u003cPRED\u003eA: 1- slightly turn to the left 2- move your arm downwards 3- move to the left 4- move towards the table 5- slightly move forward\n\u003c/PRED\u003e","video":"5668778713429390806.mp4"}
+{"uid":"3284787698663087415","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots Q: immediate next step? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots. last 20 steps: 1- open the drawer 2- put block on the table 3- put block on the table 4- close the drawer Q: immediate next step? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots. last 20 steps: 1- open the drawer 2- put block on the table 3- put block on the table 4- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the drawer 2- put block on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput block 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:discriminative:discrete:True\u003e\nput block 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 block in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e","video":"3297580587391729816.mp4"}
+{"uid":"17533888854242756366","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the stand to the left of 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":"619790418898060180.mp4"}
+{"uid":"716393351777351937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace tong on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11427208298142962762.mp4"}
+{"uid":"3847076713940421359","text":"\u003ctask:success:discrete:False\u003e\nSlightly move back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: Slightly move back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move back 2- slightly move forward 3- slightly move your arm down 4- push the chair into the table 5- slightly move to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Slightly move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move back\n\u003c/PRED\u003e","video":"17844347693574233445.mp4"}
+{"uid":"8184206606121915022","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4524345981506612206.mp4"}
+{"uid":"7445752132536512933","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the left chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove close to the left chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6474768894066118310.mp4"}
+{"uid":"18201295890029204715","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":"1607211974805104753.mp4"}
+{"uid":"3531949783713396891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy in the glass cage Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14677416716249241561.mp4"}
+{"uid":"8600703076810224356","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots. last 20 steps: 1- open the drawer 2- put block on the table 3- put block on 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots. last 20 steps: 1- open the drawer 2- put block on the table 3- put block on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- put block in the drawer 3- put block on the table 4- done\n\u003c/PRED\u003e","video":"13019482892677720961.mp4"}
+{"uid":"13155499057403500608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up redbull can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2127494935895350962.mp4"}
+{"uid":"8100217159985016979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"2442804590521725089.mp4"}
+{"uid":"4538196110521189182","text":"\u003ctask:success:discrete:False\u003e\ntouch the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: touch the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right 20- push the chair into the table Q: immediate next step? \u003cPRED\u003eA: touch the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table 19- slightly move to the right 20- push the chair into the table Q: next 5 steps? \u003cPRED\u003eA: 1- touch the chair 2- move to the left 3- move back 4- done\n\u003c/PRED\u003e","video":"8125246091401083677.mp4"}
+{"uid":"2515079440491188588","text":"\u003ctask:success:discrete:True\u003e\nput block 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 block in the drawer\n\u003c/PRED\u003e","video":"416604882711185619.mp4"}
+{"uid":"18372857526661588828","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":"13650923323538766640.mp4"}
+{"uid":"16883020388936959374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"13913136785224571764.mp4"}
+{"uid":"1088039680020827786","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":"13107456823436264238.mp4"}
+{"uid":"17614282876589367870","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":"18401391265269506306.mp4"}
+{"uid":"7434565451419530309","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the battery into the green plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17600429052858159460.mp4"}
+{"uid":"8745539073262341481","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward Q: immediate next step? \u003cPRED\u003eA: Drop the cap on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the cap on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the cap on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the cap on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the cap on the table 2- slightly move your arm up 3- turn to the right 4- slightly move forward 5- slightly move your arm down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Drop the cap on the table\n\u003c/PRED\u003e","video":"11094703274349731863.mp4"}
+{"uid":"3758344730465547447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5352941329319017189.mp4"}
+{"uid":"7408040630396482836","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move towards the carry bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the carry bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the carry bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the carry bag 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the carry bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the carry bag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack Q: immediate next step? \u003cPRED\u003eA: move towards the carry bag\n\u003c/PRED\u003e","video":"4314996773323507799.mp4"}
+{"uid":"5764878848392003825","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move 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:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left Q: immediate next step? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move to the left 2- move towards the table 3- slightly move forward 4- release the cap on the table 5- slightly move your arm up\n\u003c/PRED\u003e","video":"4710156400664860005.mp4"}
+{"uid":"4358703912408447965","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the chair into the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npush the chair into 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":"13645330283568735658.mp4"}
+{"uid":"2917599972399667038","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move your arm to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm to the left 2- move your arm downwards 3- move to the left 4- move towards the table 5- slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap Q: immediate next step? \u003cPRED\u003eA: slightly move your arm to the left\n\u003c/PRED\u003e","video":"18250827744823896373.mp4"}
+{"uid":"6211735389372337378","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward Q: immediate next step? \u003cPRED\u003eA: grab the cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab 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:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: grab the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- grab the cap 2- slightly turn to the left 3- move your arm downwards 4- move to the left 5- move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the cap\n\u003c/PRED\u003e","video":"5504679013232959574.mp4"}
+{"uid":"11405947537381734399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\norganize 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":"7573553477794925046.mp4"}
+{"uid":"16706627908593724744","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack Q: next 5 steps? \u003cPRED\u003eA: 1- move forward 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack Q: immediate next step? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e","video":"7707888758384198412.mp4"}
+{"uid":"9102268748206934423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pop corn 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":"18030157765637835213.mp4"}
+{"uid":"17639006463295143214","text":"\u003ctask:success:discrete:True\u003e\ndrop the cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cap on the table\n\u003c/PRED\u003e","video":"4770532018474360897.mp4"}
+{"uid":"10337035821166628414","text":"\u003ctask:success:discrete:True\u003e\nMove close to the carry bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the carry bag\n\u003c/PRED\u003e","video":"5611876328672366346.mp4"}
+{"uid":"13468470804108569743","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the coat rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove close to the coat rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14441318378243298071.mp4"}
+{"uid":"330209482931636138","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left Q: immediate next step? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the table 2- slightly move forward 3- release the cap on the table 4- slightly move your arm up 5- turn to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e","video":"12639819177885453195.mp4"}
+{"uid":"15699223581424986472","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":"10943292506308508535.mp4"}
+{"uid":"14349948520519246491","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":"17904569745838787138.mp4"}
+{"uid":"16901288445293539865","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":"20359573511697531.mp4"}
+{"uid":"7077077099065368862","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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:success:discrete:False\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- slightly move forward 3- slightly move your arm down 4- push the chair into the table 5- slightly move to the right\n\u003c/PRED\u003e","video":"4291707077478674606.mp4"}
+{"uid":"12082173840389627186","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move close to the coat rack 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward 6- grab the cap 7- slightly turn to the left 8- move your arm downwards 9- move to the left 10- move towards the table 11- slightly move forward 12- release the cap on the table 13- slightly move your arm up 14- turn to the right 15- slightly move forward 16- slightly move your arm down 17- push the chair into the table 18- slightly move to the right 19- push the chair into the table 20- Move close to the left chair Q: immediate next step? \u003cPRED\u003eA: Move to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Move to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove 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:success:discrete:False\u003e\nMove to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move close to the coat rack 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward 6- grab the cap 7- slightly turn to the left 8- move your arm downwards 9- move to the left 10- move towards the table 11- slightly move forward 12- release the cap on the table 13- slightly move your arm up 14- turn to the right 15- slightly move forward 16- slightly move your arm down 17- push the chair into the table 18- slightly move to the right 19- push the chair into the table 20- Move close to the left chair Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the left 2- move back 3- done\n\u003c/PRED\u003e","video":"14766982343550540677.mp4"}
+{"uid":"7750752338575925884","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the chair into the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the chair into the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table Q: next 5 steps? \u003cPRED\u003eA: 1- push the chair into the table 2- move back 3- move to the left 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: push the chair into the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the chair into the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table Q: immediate next step? \u003cPRED\u003eA: push the chair into the table\n\u003c/PRED\u003e","video":"520691333735758804.mp4"}
+{"uid":"14725940284624923366","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the cap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3940647721245379450.mp4"}
+{"uid":"18114946095797938860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate in the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4134650609979668923.mp4"}
+{"uid":"1493029737286270417","text":"\u003ctask:success:discrete:False\u003e\nSlightly move forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move forward 2- grab the cap 3- slightly turn to the left 4- move your arm downwards 5- move to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: Slightly move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move forward\n\u003c/PRED\u003e","video":"16105564121675792416.mp4"}
+{"uid":"16034225240315056262","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13820086308821476615.mp4"}
+{"uid":"8017821606585443485","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- turn to the right 2- slightly move forward 3- slightly move your arm down 4- push the chair into the table 5- slightly move to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nturn to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"361824427414692847.mp4"}
+{"uid":"10636496052107507507","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17197321982302466491.mp4"}
+{"uid":"5411450756056060036","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move to the right 2- Move close to the left chair 3- move back 4- move to the left 5- move back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down Q: immediate next step? \u003cPRED\u003eA: slightly move to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move to the right\n\u003c/PRED\u003e","video":"15633369528735148006.mp4"}
+{"uid":"8077194133864869224","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":"6447945668995145507.mp4"}
+{"uid":"2009595050995093252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrasp the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10304594447360289314.mp4"}
+{"uid":"1234379511869477933","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the cap 2- grab the cap 3- slightly turn to the left 4- move your arm downwards 5- move to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move your arm close to the cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: move your arm close to the cap\n\u003c/PRED\u003e","video":"10523480535032190702.mp4"}
+{"uid":"10064765832089526978","text":"\u003ctask:success:discrete:True\u003e\nmove towards the coat rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the coat rack\n\u003c/PRED\u003e","video":"11742852453770009766.mp4"}
+{"uid":"5445497862328805844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"9839197006809601262.mp4"}
+{"uid":"10974413611682078699","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nturn to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- turn to the right 2- slightly move forward 3- slightly move your arm down 4- push the chair into the table 5- slightly move to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e","video":"13265585890296582901.mp4"}
+{"uid":"3048124215759161600","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move forward 2- slightly move your arm down 3- push the chair into the table 4- slightly move to the right 5- push the chair into the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e","video":"5139975262529362143.mp4"}
+{"uid":"16318603258806247761","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace yellow marker inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2802118417269460337.mp4"}
+{"uid":"18024059778985784715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntouch the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15573873754800365246.mp4"}
+{"uid":"18222121358684040460","text":"\u003ctask:success:discrete:False\u003e\nMove to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the right 2- slightly move forward 3- slightly move your arm down 4- push the chair into the table 5- slightly move to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e","video":"4415912010343784499.mp4"}
+{"uid":"15720485618724746003","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move your arm up 2- slightly move your arm up 3- slightly move forward 4- grab the cap 5- slightly turn to the left 6- move your arm downwards 7- move to the left 8- move towards the table 9- slightly move forward 10- release the cap on the table 11- slightly move your arm up 12- turn to the right 13- slightly move forward 14- slightly move your arm down 15- push the chair into the table 16- slightly move to the right 17- push the chair into the table 18- Move close to the left chair 19- move back 20- move to the left Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove 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 back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move your arm up 2- slightly move your arm up 3- slightly move forward 4- grab the cap 5- slightly turn to the left 6- move your arm downwards 7- move to the left 8- move towards the table 9- slightly move forward 10- release the cap on the table 11- slightly move your arm up 12- turn to the right 13- slightly move forward 14- slightly move your arm down 15- push the chair into the table 16- slightly move to the right 17- push the chair into the table 18- Move close to the left chair 19- move back 20- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8417745846208657689.mp4"}
+{"uid":"12037608597414581910","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npush a chair into the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table Q: next 5 steps? \u003cPRED\u003eA: 1- push a chair into the table 2- move back 3- move to the left 4- move back 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: push a chair into the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push a chair into the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push a chair into the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down 18- push the chair into the table Q: immediate next step? \u003cPRED\u003eA: push a chair into the table\n\u003c/PRED\u003e","video":"2245139504208461754.mp4"}
+{"uid":"7155017694098649050","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots. last 20 steps: 1- open the drawer 2- put block on the table Q: immediate next step? \u003cPRED\u003eA: put block on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots Q: immediate next step? \u003cPRED\u003eA: put block on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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 take the shapes out the middle drawer, close it, and than put it back in by using the slots. last 20 steps: 1- open the drawer 2- put block on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put block on the table 2- close the drawer 3- put block in the drawer 4- put block on the table 5- done\n\u003c/PRED\u003e","video":"2513280358389003976.mp4"}
+{"uid":"8492265595456179638","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Slightly move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move forward 2- slightly move your arm up 3- slightly move your arm up 4- slightly move forward 5- grab the cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack Q: immediate next step? \u003cPRED\u003eA: Slightly move forward\n\u003c/PRED\u003e","video":"2540782190826023297.mp4"}
+{"uid":"11476952814857109733","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10543720771904224844.mp4"}
+{"uid":"13326514027102430268","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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\nslightly move your arm down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm down 2- push the chair into the table 3- slightly move to the right 4- push the chair into the table 5- Move close to the left chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward Q: immediate next step? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e","video":"13623162385430568867.mp4"}
+{"uid":"14712280407271694742","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move close to the coat rack 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward 6- grab the cap 7- slightly turn to the left 8- move your arm downwards 9- move to the left 10- move towards the table 11- slightly move forward 12- release the cap on the table 13- slightly move your arm up 14- turn to the right 15- slightly move forward 16- slightly move your arm down 17- push the chair into the table 18- slightly move to the right 19- push the chair into the table 20- Move close to the left chair Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move close to the coat rack 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward 6- grab the cap 7- slightly turn to the left 8- move your arm downwards 9- move to the left 10- move towards the table 11- slightly move forward 12- release the cap on the table 13- slightly move your arm up 14- turn to the right 15- slightly move forward 16- slightly move your arm down 17- push the chair into the table 18- slightly move to the right 19- push the chair into the table 20- Move close to the left chair Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove 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","video":"8452439638247562822.mp4"}
+{"uid":"644389613568533648","text":"\u003ctask:success:discrete:True\u003e\nPush the chair into 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: Push the chair into the table\n\u003c/PRED\u003e","video":"8317754407164583641.mp4"}
+{"uid":"2340608051286908539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue packet into the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14053619940055133675.mp4"}
+{"uid":"5593716856911461716","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward Q: immediate next step? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm up 2- slightly move your arm up 3- slightly move forward 4- grab the cap 5- slightly turn to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e","video":"6729113441088226115.mp4"}
+{"uid":"9436321696591895072","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":"13858287222949497513.mp4"}
+{"uid":"12621344097389082304","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm up 2- turn to the right 3- slightly move forward 4- slightly move your arm down 5- push the chair into the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table Q: immediate next step? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6780579024072963464.mp4"}
+{"uid":"3772557475943049916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the cereal jar lead Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6475932713470341532.mp4"}
+{"uid":"7059923910872930555","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left 2- move towards the table 3- slightly move forward 4- release the cap on the table 5- slightly move your arm up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove 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":"6438940555567115690.mp4"}
+{"uid":"13443558287487863886","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots Q: immediate next step? \u003cPRED\u003eA: put block on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put block on the table 2- put block on the table 3- close the drawer 4- put block in the drawer 5- put block on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put block on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput block 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 block 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":"10249237782549007383.mp4"}
+{"uid":"8931342915113764905","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":"4513313205735625700.mp4"}
+{"uid":"18062296487635077811","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1160316307514423140.mp4"}
+{"uid":"10206104832354173134","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move forward 2- slightly move your arm up 3- slightly move your arm up 4- slightly move forward 5- grab the cap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15319022910423339293.mp4"}
+{"uid":"15068599877042451074","text":"\u003ctask:success:discrete:False\u003e\ndrop the cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cap on the table 2- slightly move your arm up 3- turn to the right 4- slightly move forward 5- slightly move your arm down\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cap on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward Q: immediate next step? \u003cPRED\u003eA: drop the cap on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cap on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: drop the cap on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cap on the table\n\u003c/PRED\u003e","video":"18273343477884978677.mp4"}
+{"uid":"6405354235016933278","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":"18308979798184502270.mp4"}
+{"uid":"8907564597777058344","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13985228055278792970.mp4"}
+{"uid":"10605177522769821826","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":"7403489597606506520.mp4"}
+{"uid":"3779666504697983653","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange wire roll 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":"6124573309403255060.mp4"}
+{"uid":"955093543888504303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the lid of the jar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4171799872168603372.mp4"}
+{"uid":"16662688146757376951","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm upwards 2- turn to the right 3- slightly move forward 4- slightly move your arm down 5- push the chair into the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table Q: immediate next step? \u003cPRED\u003eA: slightly move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm upwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move your arm upwards\n\u003c/PRED\u003e","video":"10121948858222036030.mp4"}
+{"uid":"13484608493001255196","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the charger 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":"8261830057351127953.mp4"}
+{"uid":"16382716003722989174","text":"\u003ctask:success:discrete:True\u003e\nSlightly move to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e","video":"11650305826608846711.mp4"}
+{"uid":"15221418410474339685","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the chair into the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down Q: immediate next step? \u003cPRED\u003eA: push the chair into the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: push the chair into the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the chair into the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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: push the chair into the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down Q: next 5 steps? \u003cPRED\u003eA: 1- push the chair into the table 2- push the chair into the table 3- Move close to the left chair 4- move back 5- move to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the chair into the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17497975676624912200.mp4"}
+{"uid":"5414316587440705536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6313151766175576409.mp4"}
+{"uid":"1912417484800540326","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the carry bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the carry bag 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the carry bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 close to the carry bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the carry bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Move close to the carry bag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack Q: immediate next step? \u003cPRED\u003eA: Move close to the carry bag\n\u003c/PRED\u003e","video":"1455982148789017418.mp4"}
+{"uid":"9301552183922946787","text":"\u003ctask:success:discrete:False\u003e\nput block 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 take the shapes out the middle drawer, close it, and than put it back in by using the slots. last 20 steps: 1- open the drawer 2- put block on the table 3- put block on the table 4- close the drawer 5- put block in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put block on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots Q: immediate next step? \u003cPRED\u003eA: put block on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the shapes out the middle drawer, close it, and than put it back in by using the slots. last 20 steps: 1- open the drawer 2- put block on the table 3- put block on the table 4- close the drawer 5- put block in the drawer Q: immediate next step? \u003cPRED\u003eA: put block on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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":"13911852410697504513.mp4"}
+{"uid":"1960142666951684923","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nTouch the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTouch the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Touch the cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Touch the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- Touch the cap 2- slightly turn to the left 3- move your arm downwards 4- move to the left 5- move towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward Q: immediate next step? \u003cPRED\u003eA: Touch the cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Touch the cap\n\u003c/PRED\u003e","video":"13462619962621095339.mp4"}
+{"uid":"11431330396886250237","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npush the chair into the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down Q: immediate next step? \u003cPRED\u003eA: push the chair into the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the chair into the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: push the chair into the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the chair into the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the chair into the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down Q: next 5 steps? \u003cPRED\u003eA: 1- push the chair into the table 2- push the chair into the table 3- Move close to the left chair 4- move back 5- move to the left\n\u003c/PRED\u003e","video":"15110259020698197713.mp4"}
+{"uid":"6709074534465002840","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down Q: next 5 steps? \u003cPRED\u003eA: 1- Push the chair into the table 2- push the chair into the table 3- Move close to the left chair 4- move back 5- move to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Push the chair into the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the chair into the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward 17- slightly move your arm down Q: immediate next step? \u003cPRED\u003eA: Push the chair into the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the chair into the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the chair into the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the chair into the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"171165556746902557.mp4"}
+{"uid":"14518642898073998223","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the eraser sponge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13419854974899443127.mp4"}
+{"uid":"7265300020612146322","text":"\u003ctask:success:discrete:True\u003e\nMove 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: Move forward\n\u003c/PRED\u003e","video":"8705076165187897150.mp4"}
+{"uid":"9711986328885425820","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move close to the coat rack 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward 6- grab the cap 7- slightly turn to the left 8- move your arm downwards 9- move to the left 10- move towards the table 11- slightly move forward 12- release the cap on the table 13- slightly move your arm up 14- turn to the right 15- slightly move forward 16- slightly move your arm down 17- push the chair into the table 18- slightly move to the right 19- push the chair into the table 20- Move close to the left chair Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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:success:discrete:False\u003e\nmove 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 back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move close to the coat rack 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward 6- grab the cap 7- slightly turn to the left 8- move your arm downwards 9- move to the left 10- move towards the table 11- slightly move forward 12- release the cap on the table 13- slightly move your arm up 14- turn to the right 15- slightly move forward 16- slightly move your arm down 17- push the chair into the table 18- slightly move to the right 19- push the chair into the table 20- Move close to the left chair Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e","video":"14495422935308938730.mp4"}
+{"uid":"1350204172042896257","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: Move up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- Move up 2- slightly move forward 3- grab the cap 4- slightly turn to the left 5- move your arm downwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Move up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10719332852759387903.mp4"}
+{"uid":"3084140916998739142","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the cap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap Q: immediate next step? \u003cPRED\u003eA: Pick the cap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the cap 2- move to the left 3- move towards the table 4- slightly move forward 5- release the cap on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick 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:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Pick the cap\n\u003c/PRED\u003e","video":"9080436133528136460.mp4"}
+{"uid":"10936497906418851383","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the yellow packet off the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9020035304559223765.mp4"}
+{"uid":"11409100824109069188","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"534194386838139516.mp4"}
+{"uid":"2567120397987710550","text":"\u003ctask:success:discrete:True\u003e\nmove to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the right\n\u003c/PRED\u003e","video":"15487720153835246402.mp4"}
+{"uid":"8850904677820590602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace green candy on the table from the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9358411982869985907.mp4"}
+{"uid":"8326979318575776482","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5306566889143523460.mp4"}
+{"uid":"15358039222517138599","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward Q: immediate next step? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward 13- release the cap on the table 14- slightly move your arm up 15- turn to the right 16- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm down 2- push the chair into the table 3- slightly move to the right 4- push the chair into the table 5- Move close to the left chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm down\n\u003c/PRED\u003e","video":"11588879264639124527.mp4"}
+{"uid":"17474853350011565689","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tilted can 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":"5788334204295269009.mp4"}
+{"uid":"18124298464207240839","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move forward 2- grab the cap 3- slightly turn to the left 4- move your arm downwards 5- move to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9831016717574056705.mp4"}
+{"uid":"12112670792685910864","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack Q: immediate next step? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move back 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move back\n\u003c/PRED\u003e","video":"2786255955238884417.mp4"}
+{"uid":"13660071589476441985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green cup in the cardboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2536510256006671503.mp4"}
+{"uid":"7532257772326393037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the trolley beside the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17467078097884189078.mp4"}
+{"uid":"17654127144557730041","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move your arm forward 2- slightly move your arm up 3- slightly move forward 4- grab the cap 5- slightly turn to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move your arm forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move your arm forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward Q: immediate next step? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move your arm forward\n\u003c/PRED\u003e","video":"10734983831952879894.mp4"}
+{"uid":"17587654562986545936","text":"\u003ctask:success:discrete:True\u003e\nturn to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: turn to the right\n\u003c/PRED\u003e","video":"9886702938491773260.mp4"}
+{"uid":"2968234052589648748","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move forward 2- slightly move your arm up 3- slightly move your arm up 4- slightly move forward 5- grab the cap 6- slightly turn to the left 7- move your arm downwards 8- move to the left 9- move towards the table 10- slightly move forward 11- release the cap on the table 12- slightly move your arm up 13- turn to the right 14- slightly move forward 15- slightly move your arm down 16- push the chair into the table 17- slightly move to the right 18- push the chair into the table 19- Move close to the left chair 20- move back Q: immediate next step? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- slightly move forward 2- slightly move your arm up 3- slightly move your arm up 4- slightly move forward 5- grab the cap 6- slightly turn to the left 7- move your arm downwards 8- move to the left 9- move towards the table 10- slightly move forward 11- release the cap on the table 12- slightly move your arm up 13- turn to the right 14- slightly move forward 15- slightly move your arm down 16- push the chair into the table 17- slightly move to the right 18- push the chair into the table 19- Move close to the left chair 20- move back Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move to the right 2- done\n\u003c/PRED\u003e","video":"6503607294054406725.mp4"}
+{"uid":"15170051406513198176","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7694198038366064425.mp4"}
+{"uid":"8187268382959497513","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass 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":"607916531130435187.mp4"}
+{"uid":"18333049249599863381","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4109600901079328454.mp4"}
+{"uid":"12243995207531083747","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":"17072585624427918535.mp4"}
+{"uid":"6041618610789217485","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the cap from the hanger\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap Q: immediate next step? \u003cPRED\u003eA: pick the cap from the hanger\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the cap from the hanger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: pick the cap from the hanger\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cap from the hanger 2- move to the left 3- move towards the table 4- slightly move forward 5- release the cap on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the cap from the hanger\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the cap from the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2219123263625662865.mp4"}
+{"uid":"6974002379481853423","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack Q: next 5 steps? \u003cPRED\u003eA: 1- slightly move forward 2- slightly move your arm up 3- slightly move your arm up 4- slightly move forward 5- grab the cap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: slightly move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly move forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5955646414762605281.mp4"}
+{"uid":"1848197419205489577","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pear 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":"9484843595952668861.mp4"}
+{"uid":"7245443228275975528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tongs in the center 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":"11515996302908197010.mp4"}
+{"uid":"7817493841365125317","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the coat rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the coat rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the coat rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack Q: immediate next step? \u003cPRED\u003eA: move close to the coat rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the coat rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move close to the coat rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the coat rack 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward\n\u003c/PRED\u003e","video":"12663204129992034756.mp4"}
+{"uid":"486267629023411498","text":"\u003ctask:success:discrete:True\u003e\nmove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e","video":"1111580259156750326.mp4"}
+{"uid":"12449493849242231699","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":"2450935315787457990.mp4"}
+{"uid":"560047452861513016","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm downwards 2- move to the left 3- move towards the table 4- slightly move forward 5- release the cap on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13506237338499943092.mp4"}
+{"uid":"14075577628072609949","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8018567451965220890.mp4"}
+{"uid":"5246372644216569242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the fork in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3722228976810834468.mp4"}
+{"uid":"8985876523399553680","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14596055638233647302.mp4"}
+{"uid":"7540088650773828474","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":"17783645617033162774.mp4"}
+{"uid":"12109408751756915609","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack Q: immediate next step? \u003cPRED\u003eA: move close to the coat rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move close to the coat rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move close to the coat rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the coat rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move close to the coat rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the coat rack 2- slightly move forward 3- slightly move your arm up 4- slightly move your arm up 5- slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove close to the coat rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3685798685902300046.mp4"}
+{"uid":"591015899833363708","text":"\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","video":"4593915392831786522.mp4"}
+{"uid":"8127735778671657090","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move towards the coat rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the coat rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the coat rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move towards the coat rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the coat rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the coat rack\n\u003c/PRED\u003e","video":"813806198425078277.mp4"}
+{"uid":"7891487396364174133","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the table 2- slightly move forward 3- release the cap on the table 4- slightly move your arm up 5- turn to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"99109066304955431.mp4"}
+{"uid":"17137340188314671782","text":"\u003ctask:success:discrete:True\u003e\npush the chair into 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: push the chair into the table\n\u003c/PRED\u003e","video":"14831402669125191353.mp4"}
+{"uid":"1334984378632110509","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":"12849270137099785306.mp4"}
+{"uid":"14694785901933423073","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the cap on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the cap on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the cap on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: release the cap on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward Q: immediate next step? \u003cPRED\u003eA: release the cap on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease the cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left 11- move towards the table 12- slightly move forward Q: next 5 steps? \u003cPRED\u003eA: 1- release the cap on the table 2- slightly move your arm up 3- turn to the right 4- slightly move forward 5- slightly move your arm down\n\u003c/PRED\u003e","video":"11855107475519445649.mp4"}
+{"uid":"9515450074217250167","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. Q: immediate next step? \u003cPRED\u003eA: Move close to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left Q: immediate next step? \u003cPRED\u003eA: Move close to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick cap from stand and put it on table. then push the chairs in. last 20 steps: 1- move towards the coat rack 2- move close to the coat rack 3- slightly move forward 4- slightly move your arm up 5- slightly move your arm up 6- slightly move forward 7- grab the cap 8- slightly turn to the left 9- move your arm downwards 10- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the table 2- release the cap on the table 3- slightly move your arm up 4- turn to the right 5- slightly move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close 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 close 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":"9099440797545493749.mp4"}
+{"uid":"12581529043952478563","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":"1184571816958121458.mp4"}
+{"uid":"17030986811640208417","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16846041787293284722.mp4"}
+{"uid":"13309295625940318891","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: release the cap on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nrelease the cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17087299310607391328.mp4"}
+{"uid":"15451954320862918069","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can 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 blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"1338497631717900812.mp4"}
+{"uid":"16181733397387549051","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace snacks 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":"10801695014761784574.mp4"}
+{"uid":"11665783359947064232","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packets in the tray 4- place snacks packets in the tray 5- place snacks packets in the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the seaweed into the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packets in the tray 4- place snacks packets in the tray 5- place snacks packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packet in the tray 4- place snacks packet in the tray 5- adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace snacks 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":"2503313171353364377.mp4"}
+{"uid":"13636015410284766896","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2468915337602611042.mp4"}
+{"uid":"1696367511714435148","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14297481134457662782.mp4"}
+{"uid":"10074530911398302540","text":"\u003ctask:success:discrete:True\u003e\nplace snacks 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 snacks packet in the tray\n\u003c/PRED\u003e","video":"9118726843221395320.mp4"}
+{"uid":"3932162450074488643","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the seaweed into the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packets in the tray 4- place snacks packets in the tray 5- place snacks packets in the tray 6- place snacks packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packet in the tray 4- adjust the packet 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packets in the tray 4- place snacks packets in the tray 5- place snacks packets in the tray 6- place snacks packet in the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e","video":"7246516056635243029.mp4"}
+{"uid":"13343206677447665860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple 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":"2379205287881616715.mp4"}
+{"uid":"16881936103242389967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"224148867740855203.mp4"}
+{"uid":"8097826865018489987","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace snacks 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":"17459641381524371321.mp4"}
+{"uid":"15050995541911517375","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"11996026376387295645.mp4"}
+{"uid":"11952506953730636801","text":"\u003ctask:success:discrete:True\u003e\nput 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 can on the table\n\u003c/PRED\u003e","video":"16205985932416599808.mp4"}
+{"uid":"1203929748736878765","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":"1165055172590661471.mp4"}
+{"uid":"3877517141127568004","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- put can on the table 4- done\n\u003c/PRED\u003e","video":"16026937309492200318.mp4"}
+{"uid":"3086139513514515219","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17011232143142418575.mp4"}
+{"uid":"6703295702548195745","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace snacks 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: put the seaweed into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packets in the tray 4- place snacks packets in the tray 5- place snacks packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the seaweed into the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e","video":"12443423994900098164.mp4"}
+{"uid":"2970042403260592263","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":"7954320725334668865.mp4"}
+{"uid":"3754230475691836062","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11207227297067867169.mp4"}
+{"uid":"13599110303278802582","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put 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 blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black 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 blue black can on the table\n\u003c/PRED\u003e","video":"15061411146039506508.mp4"}
+{"uid":"17991082387027222601","text":"\u003ctask:success:discrete:True\u003e\nplace snacks 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 snacks packet in the tray\n\u003c/PRED\u003e","video":"7885610098948529755.mp4"}
+{"uid":"9657721837817427207","text":"\u003ctask:success:discrete:True\u003e\nplace snacks 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 snacks packet in the tray\n\u003c/PRED\u003e","video":"4492306455823109239.mp4"}
+{"uid":"11610719559812940070","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":"4739312869017442029.mp4"}
+{"uid":"2934877201800646804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput holder upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16937022402947486861.mp4"}
+{"uid":"16932103177774226594","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table 6- place the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue black 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table 6- place the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2838357104407984633.mp4"}
+{"uid":"15102777925408764977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink 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":"17017836216418484300.mp4"}
+{"uid":"780962651640735908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the right side tray in the cardboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15849112725014305239.mp4"}
+{"uid":"5819044965930562477","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":"11138034037970833986.mp4"}
+{"uid":"112123062281436126","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":"1222484969621461136.mp4"}
+{"uid":"1893923325656956610","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":"8542363819820586241.mp4"}
+{"uid":"14489114254868106573","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can 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: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"9491896156263217763.mp4"}
+{"uid":"8186385553576814440","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":"4436860924396019863.mp4"}
+{"uid":"2051068599202069737","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8593497135569452843.mp4"}
+{"uid":"15813206126207631636","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup 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":"12193632080784306116.mp4"}
+{"uid":"10689799109160487566","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8147615731307639410.mp4"}
+{"uid":"9662376016591192634","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table 6- put can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table 6- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2808872069724791965.mp4"}
+{"uid":"17203619561937833188","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClean the RO 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":"2868950971467201613.mp4"}
+{"uid":"12867630545057695829","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"9265870935158276729.mp4"}
+{"uid":"3590869523611574162","text":"\u003ctask:success:discrete:True\u003e\nplace snacks 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: place snacks packets in the tray\n\u003c/PRED\u003e","video":"17795246561600939594.mp4"}
+{"uid":"12362565581873106378","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place snacks packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packets in the tray 4- place snacks packets in the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace snacks 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:planning:freeform\u003e\ncurrent goal is: put the seaweed into the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place snacks packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packets in the tray 4- place snacks packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place snacks packets in the tray 2- place snacks packet in the tray 3- place snacks packet in the tray 4- place snacks packet in the tray 5- place snacks packet in the tray\n\u003c/PRED\u003e","video":"17611502520909902008.mp4"}
+{"uid":"8684344801284778956","text":"\u003ctask:success:discrete:False\u003e\nplace snacks packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the seaweed into the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packets in the tray 4- place snacks packets in the tray 5- place snacks packets in the tray 6- place snacks packet in the tray 7- place snacks packet in the tray 8- place snacks packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place snacks packet in the tray 2- adjust the packet 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packets in the tray 4- place snacks packets in the tray 5- place snacks packets in the tray 6- place snacks packet in the tray 7- place snacks packet in the tray 8- place snacks packet in the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e","video":"728543253204860601.mp4"}
+{"uid":"610952907228566133","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- put can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e","video":"2217785872942925350.mp4"}
+{"uid":"16170830964381071498","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11525307218186107072.mp4"}
+{"uid":"3090325562087774446","text":"\u003ctask:success:discrete:True\u003e\nplace snacks 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 snacks packet in the tray\n\u003c/PRED\u003e","video":"7323867432488644854.mp4"}
+{"uid":"9854923450537457568","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- put can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7440986771706987605.mp4"}
+{"uid":"7730787325683471760","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table 6- put blue can on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table 6- put blue can on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e","video":"13459482595428301289.mp4"}
+{"uid":"4620210711954597727","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue candy 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":"13395327827633659218.mp4"}
+{"uid":"12121362552590722699","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- put can on the table 3- put can on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"902081823729347241.mp4"}
+{"uid":"3485741406867406514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove down 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":"16816855394107892041.mp4"}
+{"uid":"16156805463245824984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the plastic knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16796351013393593245.mp4"}
+{"uid":"14923625211552089371","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"4774611559376721231.mp4"}
+{"uid":"7686937100856144174","text":"\u003ctask:success:discrete:True\u003e\nplace snacks 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: place snacks packets in the tray\n\u003c/PRED\u003e","video":"4817075449343866246.mp4"}
+{"uid":"12318835932076706509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3618615363740673352.mp4"}
+{"uid":"16848769004998091221","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow 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":"1576516329550719297.mp4"}
+{"uid":"5322076938760146774","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5518776059500700813.mp4"}
+{"uid":"3770732119463272917","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- done\n\u003c/PRED\u003e","video":"9633547912803997061.mp4"}
+{"uid":"10652956898607881480","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black 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:success:discrete:False\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black 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 blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- done\n\u003c/PRED\u003e","video":"4202851603286558962.mp4"}
+{"uid":"10628531424001221416","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packets in the tray 4- place snacks packets in the tray 5- place snacks packets in the tray 6- place snacks packet in the tray 7- place snacks packet in the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packets in the tray 4- place snacks packets in the tray 5- place snacks packets in the tray 6- place snacks packet in the tray 7- place snacks packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- adjust the packet 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the seaweed into the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace snacks packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e","video":"13987516749114486954.mp4"}
+{"uid":"17019513267863975833","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":"1799609419799486007.mp4"}
+{"uid":"14057415207322443960","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"7672246078907866927.mp4"}
+{"uid":"2236814810068597278","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRotate 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":"266506036531303428.mp4"}
+{"uid":"17180511824447193779","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue can on table 2- put can on the table 3- put can on the table 4- put can on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue can 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: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17699821642408803196.mp4"}
+{"uid":"3196075471859990027","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place snacks packet in the tray 2- place snacks packets in the tray 3- place snacks packets in the tray 4- place snacks packets in the tray 5- place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace snacks 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: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the seaweed into the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place snacks packet in the tray\n\u003c/PRED\u003e","video":"16984233884020108423.mp4"}
+{"uid":"6232549295843173020","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace snacks 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:planning:freeform\u003e\ncurrent goal is: put the seaweed into the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace snacks 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place snacks packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place snacks packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packets in the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place snacks packets in the tray 2- place snacks packets in the tray 3- place snacks packet in the tray 4- place snacks packet in the tray 5- place snacks packet in the tray\n\u003c/PRED\u003e","video":"6469523220986514934.mp4"}
+{"uid":"236052997023068899","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"11824455000620356495.mp4"}
+{"uid":"17950511937026507493","text":"\u003ctask:success:discrete:True\u003e\nplace snacks 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: place snacks packets in the tray\n\u003c/PRED\u003e","video":"13848255997999432170.mp4"}
+{"uid":"8320904154934913647","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nseparate 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":"10985743237547985989.mp4"}
+{"uid":"3234162410081250730","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":"12577915767034001483.mp4"}
+{"uid":"5911787662357620324","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":"15431536817820945685.mp4"}
+{"uid":"18288194849938505559","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black 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 blue black can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put can on the table 2- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black 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:success:discrete:False\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14233341527651174616.mp4"}
+{"uid":"16577044087692367425","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packets in the tray 4- place snacks packets in the tray 5- place snacks packets in the tray 6- place snacks packet in the tray 7- place snacks packet in the tray 8- place snacks packet in the tray 9- place snacks packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the packet 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray 3- place snacks packets in the tray 4- place snacks packets in the tray 5- place snacks packets in the tray 6- place snacks packet in the tray 7- place snacks packet in the tray 8- place snacks packet in the tray 9- place snacks packet in the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the seaweed into the tray Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e","video":"2806673606548593460.mp4"}
+{"uid":"14450694148236609520","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7070594255493969673.mp4"}
+{"uid":"16675513673201145760","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place snacks packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace snacks 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place snacks packets in the tray 2- place snacks packets in the tray 3- place snacks packets in the tray 4- place snacks packet in the tray 5- place snacks packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the seaweed into the tray. last 20 steps: 1- place snacks packet in the tray 2- place snacks packet in the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the seaweed into the tray Q: immediate next step? \u003cPRED\u003eA: place snacks packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place snacks packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace snacks 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":"13420856503519501081.mp4"}
+{"uid":"10906949517738988360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the small holder at 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":"9508083713893088024.mp4"}
+{"uid":"3831246703011865412","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate in the jar 2- Drop the candy in the jar 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate 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 chocolate 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: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate in the jar\n\u003c/PRED\u003e","video":"14222310646354836159.mp4"}
+{"uid":"8896424591302477732","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the basket 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the basket\n\u003c/PRED\u003e","video":"17357752565759490306.mp4"}
+{"uid":"3366892922704221374","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":"4511772699591496379.mp4"}
+{"uid":"7346228516941743188","text":"\u003ctask:success:discrete:True\u003e\nPut the brown packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown packet in the basket\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e","video":"7182923676842547468.mp4"}
+{"uid":"2709250496884674789","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15218619181076939537.mp4"}
+{"uid":"3180706585616778100","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate 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 chocolate in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chocolate in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray 10- Put the chocolate in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate in the jar 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray 10- Put the chocolate in the jar Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the jar\n\u003c/PRED\u003e","video":"15611170072760817325.mp4"}
+{"uid":"1909281714938747916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop packet into 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":"16326693734076166597.mp4"}
+{"uid":"11004261800150478940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7237813232955846325.mp4"}
+{"uid":"17503717453179029007","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the chips 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 chips packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chips packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Place the packet in the tray 4- place the brown packet into the tray 5- Put the chocolates in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chips 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 chips packet in the tray\n\u003c/PRED\u003e","video":"11447370780218162571.mp4"}
+{"uid":"14342177179719965499","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue 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":"666707202403157262.mp4"}
+{"uid":"12698905495616387031","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the banana peel 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":"10099797358459918196.mp4"}
+{"uid":"3424075830144246981","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar Q: immediate next step? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the candy in the jar 2- Drop the packet in the tray 3- Put the chocolate in the jar 4- Drop the candy in the jar 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e","video":"1009108934591432610.mp4"}
+{"uid":"11809347727844075465","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the tray 2- place the brown packet into the tray 3- Put the chocolates in the jar 4- place the yellow candy into the jar 5- Drop the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e","video":"3302064068395255612.mp4"}
+{"uid":"9759704169696399825","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow candy into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar Q: immediate next step? \u003cPRED\u003eA: place the yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow candy into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow candy into the jar 2- Drop the packet in the tray 3- Put the chocolate in the jar 4- Drop the candy in the jar 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow candy into the jar\n\u003c/PRED\u003e","video":"9816985474287738084.mp4"}
+{"uid":"1076251109013099685","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"902680794361298704.mp4"}
+{"uid":"14202688459060252785","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the brown 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":"6525792697169990819.mp4"}
+{"uid":"6634957652059707066","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate 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 chocolate in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate in the jar 2- Drop the packet in the tray 3- Put the chocolate in the jar 4- Drop the candy in the jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar Q: immediate next step? \u003cPRED\u003eA: Put the chocolate in the jar\n\u003c/PRED\u003e","video":"4322230839514293025.mp4"}
+{"uid":"16221092233055317369","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":"9710696512315905548.mp4"}
+{"uid":"4076398053508682455","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the tray 2- Put the chocolates in the jar 3- place the yellow candy into the jar 4- Drop the packet in the tray 5- Put the chocolate in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e","video":"12379461536947323368.mp4"}
+{"uid":"9469684964164178790","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the chips 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":"17820878705060729387.mp4"}
+{"uid":"8604237698946941229","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the tray 2- Drop the packet in the tray 3- Put the chips packet in the tray 4- Place the packet in the tray 5- place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2993141200643594534.mp4"}
+{"uid":"4418198037476107645","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brown 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 brown 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:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet into the tray 2- place the brown packet into the tray 3- Put the chocolates in the jar 4- place the yellow candy into the jar 5- Drop the packet in the tray\n\u003c/PRED\u003e","video":"3323057193815879395.mp4"}
+{"uid":"1567657592803741948","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep candy in left glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12825117808026246011.mp4"}
+{"uid":"10397458331055178070","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9997811842997495323.mp4"}
+{"uid":"17466619685426846563","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":"1566764951465298870.mp4"}
+{"uid":"14316039732273386356","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chips packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chips 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 the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e","video":"10771123305701747685.mp4"}
+{"uid":"8691304214281639149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16074583202194563359.mp4"}
+{"uid":"17739854896633234537","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chips packet in the tray 2- Drop the packet in the tray 3- Put the chips packet in the tray 4- Place the packet in the tray 5- place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chips 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":"241792652960751187.mp4"}
+{"uid":"17166209976254200603","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the chips 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":"151972101157666396.mp4"}
+{"uid":"15837956126938763384","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chips packet in the tray 2- Put the chocolates in the jar 3- place the yellow candy into the jar 4- Drop the packet in the tray 5- Put the chocolate in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the chips 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 chips packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chips packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e","video":"11219131241822765764.mp4"}
+{"uid":"2528791051444843004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8976866897880203510.mp4"}
+{"uid":"4745034044613462362","text":"\u003ctask:success:discrete:True\u003e\nPut the chips 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 chips packet in the tray\n\u003c/PRED\u003e","video":"3728790192621281551.mp4"}
+{"uid":"1918460753512319463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"13257513730384420252.mp4"}
+{"uid":"8169699100975925957","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the candy in the jar 2- place the yellow candy into the jar 3- Drop the packet in the tray 4- Put the chocolate in the jar 5- Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray Q: immediate next step? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6423436668062057372.mp4"}
+{"uid":"5469076869237463066","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the brown 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":"14010441934597179239.mp4"}
+{"uid":"14357508615820621947","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet into the tray 2- Put the chips packet in the tray 3- Place the packet in the tray 4- place the brown packet into the tray 5- Put the chocolates in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown 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 brown packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brown packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e","video":"9265382482119342008.mp4"}
+{"uid":"2212408888233388842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"5172026244498416327.mp4"}
+{"uid":"4652526047109973145","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the packet in the tray 2- Put the chips packet in the tray 3- Place the packet in the tray 4- place the brown packet into the tray 5- Put the chocolates in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Drop the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray Q: immediate next step? \u003cPRED\u003eA: Drop the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the packet in the tray\n\u003c/PRED\u003e","video":"19522853185483741.mp4"}
+{"uid":"2546729010210904898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1262545403324698172.mp4"}
+{"uid":"4973662071448633495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3741548561913017530.mp4"}
+{"uid":"12884600122806891671","text":"\u003ctask:success:discrete:True\u003e\nPut the chocolates in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chocolates in the jar\n\u003c/PRED\u003e","video":"1046600304248648861.mp4"}
+{"uid":"11071317412588641545","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pista into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13980894529069271033.mp4"}
+{"uid":"539058809891633083","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet into the tray 2- Drop the packet in the tray 3- Put the chips packet in the tray 4- Place the packet in the tray 5- place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown 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 brown 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 brown packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e","video":"2627991722842643449.mp4"}
+{"uid":"7681350573642141902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tong in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8945345028131843052.mp4"}
+{"uid":"2663610950068292686","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet into the tray 2- Put the chocolate in the jar 3- Drop the candy in the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown 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:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brown 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","video":"11778847469003596437.mp4"}
+{"uid":"3277636294843384067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17116820378388468822.mp4"}
+{"uid":"11957456812254964380","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chips packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chips packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chips packet in the tray 2- Place the packet in the tray 3- place the brown packet into the tray 4- Put the chocolates in the jar 5- place the yellow candy into the jar\n\u003c/PRED\u003e","video":"1806068122931788961.mp4"}
+{"uid":"13618876243383824707","text":"\u003ctask:success:discrete:True\u003e\nDrop the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the packet in the tray\n\u003c/PRED\u003e","video":"1056318240901117239.mp4"}
+{"uid":"3600558995495351292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10952280349173020810.mp4"}
+{"uid":"14678009401310339836","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":"17435333165473455731.mp4"}
+{"uid":"3697838616553828735","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":"14025330505767271496.mp4"}
+{"uid":"10327728773890936288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pista 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":"3893744496720798981.mp4"}
+{"uid":"3686283734720861396","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink candy into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink candy into the jar 2- place the yellow candy into the jar 3- Drop the packet in the tray 4- Put the chocolate in the jar 5- Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink candy into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e","video":"1306844647650015583.mp4"}
+{"uid":"3705593802380793110","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink candy into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink candy into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink candy into the jar 2- Drop the candy in the jar 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink candy into the jar\n\u003c/PRED\u003e","video":"10440054126979738246.mp4"}
+{"uid":"7051938558668135591","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1970472611391360561.mp4"}
+{"uid":"3204743580245153779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup another candy kept on the table and place the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14821275548251416657.mp4"}
+{"uid":"6091232701207981994","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray 10- Put the chocolate in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the candy in the jar 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray 10- Put the chocolate in the jar Q: immediate next step? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e","video":"11414499029818933118.mp4"}
+{"uid":"11664768687674127021","text":"\u003ctask:success:discrete:True\u003e\nPut the chips 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 chips packet in the tray\n\u003c/PRED\u003e","video":"4350145463754812934.mp4"}
+{"uid":"3312869445795031385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7259893308815135092.mp4"}
+{"uid":"14550158468755405543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3116166735651053664.mp4"}
+{"uid":"14891587175490593559","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the packet in the tray 2- Put the chocolate in the jar 3- Drop the candy in the jar 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar Q: immediate next step? \u003cPRED\u003eA: Drop the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Drop the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8950695155774228640.mp4"}
+{"uid":"4781766503180215919","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a pen 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":"111189530182153882.mp4"}
+{"uid":"12862676980568521203","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet into the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brown 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:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e","video":"11819565955197476269.mp4"}
+{"uid":"15269582587408334723","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray 10- Put the chocolate in the jar 11- Put the chocolate in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the chocolate in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chocolate in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray 10- Put the chocolate in the jar 11- Put the chocolate in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"18296782394694157453.mp4"}
+{"uid":"18050870796856357769","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown 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: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet into the tray 2- Put the chocolates in the jar 3- place the yellow candy into the jar 4- Drop the packet in the tray 5- Put the chocolate in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e","video":"2144990128838316973.mp4"}
+{"uid":"3025485489174510547","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the brown packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the brown 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":"12047006500493912363.mp4"}
+{"uid":"10076266558679243617","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chips 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 chips 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 chips packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chips packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chips packet in the tray 2- place the brown packet into the tray 3- Put the chocolates in the jar 4- place the yellow candy into the jar 5- Drop the packet in the tray\n\u003c/PRED\u003e","video":"2033054785174343251.mp4"}
+{"uid":"15871140325048821720","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the candy in the jar 2- Drop the candy in the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6098508101158497874.mp4"}
+{"uid":"2170886316367949890","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray 10- Put the chocolate in the jar 11- place the yellow candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the yellow candy into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray 10- Put the chocolate in the jar 11- place the yellow candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"628815717286124545.mp4"}
+{"uid":"13945327743322438373","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chips packet in the tray 2- Put the chocolate in the jar 3- Drop the candy in the jar 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chips packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chips packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chips packet in the tray\n\u003c/PRED\u003e","video":"10996702553060469819.mp4"}
+{"uid":"13345673991940007611","text":"\u003ctask:success:discrete:False\u003e\nplace the yellow candy into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the yellow candy into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow candy into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray 10- Put the chocolate in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow candy into the jar 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray 10- Put the chocolate in the jar Q: immediate next step? \u003cPRED\u003eA: place the yellow candy into the jar\n\u003c/PRED\u003e","video":"16583907443335981106.mp4"}
+{"uid":"12625698017547525148","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black cable into 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":"14124969457026734167.mp4"}
+{"uid":"11264687436568135779","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":"1118458970394529115.mp4"}
+{"uid":"1524719367418015315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7907441139366459217.mp4"}
+{"uid":"5819860022704294356","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the tray 2- Place the packet in the tray 3- place the brown packet into the tray 4- Put the chocolates in the jar 5- place the yellow candy into the jar\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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: 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":"2864770867813261359.mp4"}
+{"uid":"2004766715988764628","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8129176387758458508.mp4"}
+{"uid":"114013320614037760","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolates in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolates in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolates in the jar 2- place the yellow candy into the jar 3- Drop the packet in the tray 4- Put the chocolate in the jar 5- Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chocolates in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolates in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the chocolates in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray Q: immediate next step? \u003cPRED\u003eA: Put the chocolates in the jar\n\u003c/PRED\u003e","video":"15755972439198002323.mp4"}
+{"uid":"6561058570828279153","text":"\u003ctask:success:discrete:True\u003e\nPut the chips 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 chips packet in the tray\n\u003c/PRED\u003e","video":"17533815221633579133.mp4"}
+{"uid":"5562402306622689996","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the brown 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":"13314830613590461398.mp4"}
+{"uid":"10425797567714313901","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray 10- Put the chocolate in the jar 11- Drop the candy in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray 6- place the brown packet into the tray 7- Put the chocolates in the jar 8- place the yellow candy into the jar 9- Drop the packet in the tray 10- Put the chocolate in the jar 11- Drop the candy in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16546049395610007155.mp4"}
+{"uid":"15676266228446945378","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the basket 2- Drop the packet in the tray 3- Put the chips packet in the tray 4- Place the packet in the tray 5- place the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put the chips packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the basket\n\u003c/PRED\u003e","video":"13290137222507040774.mp4"}
+{"uid":"7552773342694023923","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the tray 2- Put the chips packet in the tray 3- Drop the packet in the tray 4- Put the chips packet in the tray 5- Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the packet in the tray\n\u003c/PRED\u003e","video":"1515767855487033745.mp4"}
+{"uid":"11747315935919348670","text":"\u003ctask:success:discrete:True\u003e\nDrop the candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the candy in the jar\n\u003c/PRED\u003e","video":"3511433408239054801.mp4"}
+{"uid":"8980304966089732310","text":"\u003ctask:success:discrete:True\u003e\nPut the chocolate in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chocolate in the jar\n\u003c/PRED\u003e","video":"10547742519672948627.mp4"}
+{"uid":"10580703650306988266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14781412486532137676.mp4"}
+{"uid":"3085009457617997565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput numi 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":"16627183347512511977.mp4"}
+{"uid":"2341599706761166214","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":"11794365556498262134.mp4"}
+{"uid":"8186442038838817088","text":"\u003ctask:success:discrete:True\u003e\nplace the brown 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 brown packet into the tray\n\u003c/PRED\u003e","video":"10260251135051090867.mp4"}
+{"uid":"17844851305541052396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11388016058707201321.mp4"}
+{"uid":"1067710193913922948","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put stapler on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput stapler on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12877043291242996566.mp4"}
+{"uid":"4496089801137852411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a green cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6679566307716467744.mp4"}
+{"uid":"11452137876533782649","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput stapler on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put stapler on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put stapler on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- pick up stapler Q: next 5 steps? \u003cPRED\u003eA: 1- put stapler on the table 2- open the refrigerator door 3- pick out hint bottle 4- leave the room 5- put hint bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is:  Q: immediate next step? \u003cPRED\u003eA: put stapler on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput stapler on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- pick up stapler Q: immediate next step? \u003cPRED\u003eA: put stapler on the table\n\u003c/PRED\u003e","video":"12645515716795771048.mp4"}
+{"uid":"8558847934546253912","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic knives 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":"13041704119359759414.mp4"}
+{"uid":"3801778853606277957","text":"\u003ctask:success:discrete:True\u003e\nleave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e","video":"4432046838111459626.mp4"}
+{"uid":"12065448761864713609","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- pick up stapler 2- put stapler on the table 3- open the refrigerator door Q: immediate next step? \u003cPRED\u003eA: pick out hint bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- pick up stapler 2- put stapler on the table 3- open the refrigerator door Q: next 5 steps? \u003cPRED\u003eA: 1- pick out hint bottle 2- leave the room 3- put hint bottle on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is:  Q: immediate next step? \u003cPRED\u003eA: pick out hint bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick out hint bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick out hint bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick out hint bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick out hint bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17704449440270932581.mp4"}
+{"uid":"18185405199324581101","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is:  Q: immediate next step? \u003cPRED\u003eA: pick up stapler\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up stapler\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up stapler Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up stapler 2- put stapler on the table 3- open the refrigerator door 4- pick out hint bottle 5- leave the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up stapler\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up stapler\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up stapler Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18122732960918753784.mp4"}
+{"uid":"15411134628225349959","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":"13409303642773632268.mp4"}
+{"uid":"15809845295715579172","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a Pistachio 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":"14472146251500049268.mp4"}
+{"uid":"15934089276075672003","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: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:planning:freeform\u003e\ncurrent goal is:  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: . last 20 steps: 1- pick up stapler 2- put stapler on the table 3- open the refrigerator door 4- pick out hint bottle 5- leave the room Q: immediate next step? \u003cPRED\u003eA: put hint bottle on the table\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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- pick up stapler 2- put stapler on the table 3- open the refrigerator door 4- pick out hint bottle 5- leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- put hint bottle on the table 2- done\n\u003c/PRED\u003e","video":"16333216727959812888.mp4"}
+{"uid":"1190036471495980074","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the refrigerator door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the refrigerator door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- pick up stapler 2- put stapler on the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the refrigerator door 2- pick out hint bottle 3- leave the room 4- put hint bottle on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is:  Q: immediate next step? \u003cPRED\u003eA: open the refrigerator door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- pick up stapler 2- put stapler on the table Q: immediate next step? \u003cPRED\u003eA: open the refrigerator door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the refrigerator 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":"4746823658607892289.mp4"}
+{"uid":"16854651160336723424","text":"\u003ctask:success:discrete:False\u003e\nleave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is:  Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- pick up stapler 2- put stapler on the table 3- open the refrigerator door 4- pick out hint bottle Q: next 5 steps? \u003cPRED\u003eA: 1- leave the room 2- put hint bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- pick up stapler 2- put stapler on the table 3- open the refrigerator door 4- pick out hint bottle Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e","video":"2895202932998710883.mp4"}
+{"uid":"13553249199366455367","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- pick up stapler 2- put stapler on the table 3- open the refrigerator door 4- pick out hint bottle 5- leave the room 6- put hint bottle on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put hint bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- pick up stapler 2- put stapler on the table 3- open the refrigerator door 4- pick out hint bottle 5- leave the room 6- put hint bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\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:planning:freeform\u003e\ncurrent goal is:  Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5874017469600261539.mp4"}
+{"uid":"1022025946462517956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2460719797223339624.mp4"}
+{"uid":"4172420105266038389","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack a cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16655308132518082238.mp4"}
+{"uid":"11540133806869325704","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":"7782192102411382437.mp4"}
+{"uid":"15655807474290498378","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove basket rightward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13649074431387347147.mp4"}
+{"uid":"15762352695370790878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6819071981549337874.mp4"}
+{"uid":"6408399871637457242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the top 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":"17968924208242814982.mp4"}
+{"uid":"6851884108159146486","text":"\u003ctask:success:discrete:False\u003e\narrange the potted plant in the line Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 potted plant in the line\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: arrange the potted plant in the line\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the potted plant in the line\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the potted plant in the line Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant Q: immediate next step? \u003cPRED\u003eA: arrange the potted plant in the line\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the potted plant in the line 2- done\n\u003c/PRED\u003e","video":"16887718540514472163.mp4"}
+{"uid":"902971183945101431","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":"6283126478103479037.mp4"}
+{"uid":"7791635604152968293","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Touch the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Touch the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTouch the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright Q: immediate next step? \u003cPRED\u003eA: Touch the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Touch the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright Q: next 5 steps? \u003cPRED\u003eA: 1- Touch the table 2- slightly push the left indoor plant to the right 3- Move the bottom left indoor plant to the right a bit 4- Move away from the left indoor plant 5- grasp the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTouch the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7713890895302969431.mp4"}
+{"uid":"2206356613971016120","text":"\u003ctask:success:discrete:True\u003e\nPick the left indoor plant a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the left indoor plant a bit\n\u003c/PRED\u003e","video":"8584164219540551509.mp4"}
+{"uid":"17603730977585303615","text":"\u003ctask:success:discrete:True\u003e\nmove the top indoor plant to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the top indoor plant to the left\n\u003c/PRED\u003e","video":"16013080432499350758.mp4"}
+{"uid":"9978269997753193569","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the top indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant Q: immediate next step? \u003cPRED\u003eA: Grasp the top indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the top indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the top indoor plant 2- form a horizontal line with the indoor plants 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the top indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Grasp the top indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the top indoor plant\n\u003c/PRED\u003e","video":"15258201350896106050.mp4"}
+{"uid":"5361566049513540423","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant on the table 2- Touch the table 3- slightly push the left indoor plant to the right 4- Move the bottom left indoor plant to the right a bit 5- Move away from the left indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left Q: immediate next step? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e","video":"15514399527708994477.mp4"}
+{"uid":"15852821375346388678","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Move your arm away from the left indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm away from the left indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm away from the left indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- grasp the top indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm away from the left indoor plant 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm away from the left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- grasp the top indoor plant Q: immediate next step? \u003cPRED\u003eA: Move your arm away from the left indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm away from the left indoor plant\n\u003c/PRED\u003e","video":"17141805459725636335.mp4"}
+{"uid":"17439925488833144461","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: upright the potted plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nupright the potted plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3263429680450360609.mp4"}
+{"uid":"2832273476707711817","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm away from the left indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- grasp the top indoor plant 14- Move your arm away from the left indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- grasp the top indoor plant 14- Move your arm away from the left indoor plant Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm away from the left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"946555422949793833.mp4"}
+{"uid":"10448326045942658712","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift your 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:affordance:discriminative:discrete:True\u003e\nlift your 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- lift your arm 2- move to the knocked indoor plant 3- move the knocked indoor plant to the left 4- pick up the knocked indoor plant 5- place the indoor plant upright\n\u003c/PRED\u003e","video":"12303793414450048922.mp4"}
+{"uid":"16561759393457663334","text":"\u003ctask:success:discrete:True\u003e\nmove the indoor plant to the left of the left plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the indoor plant to the left of the left plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- grasp the top indoor plant 14- move the indoor plant to the left of the left plant Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- grasp the top indoor plant 14- move the indoor plant to the left of the left plant Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"14938278888899959581.mp4"}
+{"uid":"11068984202671841771","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: move to the potted plant slightly left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the potted plant slightly left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the potted plant slightly 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: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm Q: immediate next step? \u003cPRED\u003eA: move to the potted plant slightly left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the potted plant slightly left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the potted plant slightly left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm Q: next 5 steps? \u003cPRED\u003eA: 1- move to the potted plant slightly left 2- pick up the knocked indoor plant 3- place the indoor plant upright 4- Touch the table 5- slightly push the left indoor plant to the right\n\u003c/PRED\u003e","video":"14645306655695840071.mp4"}
+{"uid":"1745623108849679311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop sugar packets in an organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5677229229575521513.mp4"}
+{"uid":"6930018025786068393","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop toffee 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":"7940541138586321477.mp4"}
+{"uid":"6912282342661758093","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":"8780779641573570678.mp4"}
+{"uid":"15609195051633021155","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":"4938935866494785432.mp4"}
+{"uid":"9079084751547310845","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the potted plant slightly left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the potted plant slightly left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the potted plant slightly left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the potted plant slightly left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the potted plant slightly left 2- move to the knocked indoor plant 3- move the knocked indoor plant to the left 4- pick up the knocked indoor plant 5- place the indoor plant upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: move to the potted plant slightly left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the potted plant slightly 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":"11744209627983946047.mp4"}
+{"uid":"6792226134663527182","text":"\u003ctask:success:discrete:True\u003e\ntouch the table with the grippers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: touch the table with the grippers\n\u003c/PRED\u003e","video":"4138814117107365074.mp4"}
+{"uid":"12249396682873168011","text":"\u003ctask:success:discrete:True\u003e\npick the indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the indoor plant\n\u003c/PRED\u003e","video":"13186150867993152204.mp4"}
+{"uid":"7887104579047210134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9002393845073172831.mp4"}
+{"uid":"8170068514437662633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nflip 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":"6687382866756877584.mp4"}
+{"uid":"9944364391859127407","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Move the bottom left indoor plant to the right a bit\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the bottom left indoor plant to the right a bit\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the bottom left indoor plant to the right a bit\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the bottom left indoor plant to the right a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right Q: immediate next step? \u003cPRED\u003eA: Move the bottom left indoor plant to the right a bit\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Move the bottom left indoor plant to the right a bit 2- Move away from the left indoor plant 3- grasp the bottom left indoor plant 4- place the potted plant on the left side of the other plant 5- grasp the top indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the bottom left indoor plant to the right a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6157377496432494036.mp4"}
+{"uid":"1736825359841363041","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nslightly push the left indoor plant to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslightly push the left indoor plant to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table Q: next 5 steps? \u003cPRED\u003eA: 1- slightly push the left indoor plant to the right 2- Move the bottom left indoor plant to the right a bit 3- Move away from the left indoor plant 4- grasp the bottom left indoor plant 5- place the potted plant on the left side of the other plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slightly push the left indoor plant to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slightly push the left indoor plant to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: slightly push the left indoor plant to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table Q: immediate next step? \u003cPRED\u003eA: slightly push the left indoor plant to the right\n\u003c/PRED\u003e","video":"1074130713943426974.mp4"}
+{"uid":"2441597058129211158","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- arrange the potted plant in the line Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- arrange the potted plant in the line Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the potted plant in the line Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the potted plant in the line\n\u003c/PRED\u003e","video":"16622307496606128890.mp4"}
+{"uid":"795454558830873440","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the left side indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the left side indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left side indoor plant 2- place the potted plant on the left side of the other plant 3- grasp the top indoor plant 4- form a horizontal line with the indoor plants 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the left side indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit Q: immediate next step? \u003cPRED\u003eA: move to the left side indoor plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: move to the left side indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the left side indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9705353757032851014.mp4"}
+{"uid":"2862987836682979254","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12884169766226364918.mp4"}
+{"uid":"333384096051697226","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant Q: immediate next step? \u003cPRED\u003eA: place the indoor plant upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- place the indoor plant upright 2- Touch the table 3- slightly push the left indoor plant to the right 4- Move the bottom left indoor plant to the right a bit 5- Move away from the left indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the indoor plant upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the indoor plant upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the indoor plant upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: place the indoor plant upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the indoor plant upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3082131197856302416.mp4"}
+{"uid":"7299326888732390459","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the indoor plant upright\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the indoor plant upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11991247047387022370.mp4"}
+{"uid":"2215006438791858080","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the sugar packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9094288779601049403.mp4"}
+{"uid":"3412680493338737061","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the blue object 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":"6177142752796803099.mp4"}
+{"uid":"5629155923884235811","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: separate the indoor plants\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nseparate the indoor plants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17779330413226598211.mp4"}
+{"uid":"17089634395685862477","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16012212365881711355.mp4"}
+{"uid":"4932900612185148916","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant Q: immediate next step? \u003cPRED\u003eA: grasp the top indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the top indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the top indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the top indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the top indoor plant 2- form a horizontal line with the indoor plants 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: grasp the top indoor plant\n\u003c/PRED\u003e","video":"2570278001430705016.mp4"}
+{"uid":"8893290262265266315","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Place the bottom left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the bottom left indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant Q: immediate next step? \u003cPRED\u003eA: Place the bottom left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the bottom left indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the bottom left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the bottom left indoor plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- Place the bottom left indoor plant on the table 2- slightly push the left indoor plant to the right 3- Move the bottom left indoor plant to the right a bit 4- Move away from the left indoor plant 5- grasp the bottom left indoor plant\n\u003c/PRED\u003e","video":"2378530661157945568.mp4"}
+{"uid":"13514030238664990984","text":"\u003ctask:success:discrete:True\u003e\nmove to the potted plant slightly left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the potted plant slightly left\n\u003c/PRED\u003e","video":"7810992346272228750.mp4"}
+{"uid":"11676567042421789467","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the  left green ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2686297792185328812.mp4"}
+{"uid":"3615326817488946370","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- Move the top indoor plant left to the plants on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- Move the top indoor plant left to the plants on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the top indoor plant left to the plants on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the top indoor plant left to the plants on the table\n\u003c/PRED\u003e","video":"17676354371308965049.mp4"}
+{"uid":"7490516094725524132","text":"\u003ctask:success:discrete:True\u003e\nMove away from the left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the left indoor plant\n\u003c/PRED\u003e","video":"7245519705009269398.mp4"}
+{"uid":"8495132897852523612","text":"\u003ctask:success:discrete:True\u003e\nmove the plant to the left side of the other plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the plant to the left side of the other plant\n\u003c/PRED\u003e","video":"164682102899600742.mp4"}
+{"uid":"14530517262318567061","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the left most indoor plant slightly to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the left most indoor plant slightly to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table Q: next 5 steps? \u003cPRED\u003eA: 1- push the left most indoor plant slightly to the right 2- Move the bottom left indoor plant to the right a bit 3- Move away from the left indoor plant 4- grasp the bottom left indoor plant 5- place the potted plant on the left side of the other plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table Q: immediate next step? \u003cPRED\u003eA: push the left most indoor plant slightly to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the left most indoor plant slightly to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: push the left most indoor plant slightly to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the left most indoor plant slightly to the right\n\u003c/PRED\u003e","video":"11642842997922823567.mp4"}
+{"uid":"1632048546289617779","text":"\u003ctask:success:discrete:True\u003e\nTouch 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: Touch the table\n\u003c/PRED\u003e","video":"8490935030356926613.mp4"}
+{"uid":"18026426771427967699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTilt the red cup 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":"1447321282323131310.mp4"}
+{"uid":"6131919317665764901","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: move the left indoor plant to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right Q: immediate next step? \u003cPRED\u003eA: move the left indoor plant to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right Q: next 5 steps? \u003cPRED\u003eA: 1- move the left indoor plant to the right 2- Move away from the left indoor plant 3- grasp the bottom left indoor plant 4- place the potted plant on the left side of the other plant 5- grasp the top indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the left indoor plant to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the left indoor plant to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the left indoor plant to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the left indoor plant to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13282530688121818272.mp4"}
+{"uid":"8988017248688775519","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: lift your arm\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nlift your arm Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14799843978753407295.mp4"}
+{"uid":"8853099763569555740","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrasp the bottom left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5455819880098645362.mp4"}
+{"uid":"3395450966470258281","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the indoor plant to the left of the left plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the indoor plant to the left of the left plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the indoor plant to the left of the left plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: move the indoor plant to the left of the left plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the indoor plant to the left of the left plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- grasp the top indoor plant Q: immediate next step? \u003cPRED\u003eA: move the indoor plant to the left of the left plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- grasp the top indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- move the indoor plant to the left of the left plant 2- done\n\u003c/PRED\u003e","video":"16379409885857918975.mp4"}
+{"uid":"2574523524440759482","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":"11139409433016789258.mp4"}
+{"uid":"7598316109115457199","text":"\u003ctask:success:discrete:False\u003e\nseparate the indoor plants 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\nseparate the indoor plants on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: separate the indoor plants on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- separate the indoor plants on the table 2- move to the knocked indoor plant 3- move the knocked indoor plant to the left 4- pick up the knocked indoor plant 5- place the indoor plant upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: separate the indoor plants on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: separate the indoor plants on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: separate the indoor plants on the table\n\u003c/PRED\u003e","video":"11454777886477035901.mp4"}
+{"uid":"15441081921050862360","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the bottom left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant Q: immediate next step? \u003cPRED\u003eA: grasp the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the bottom left indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: grasp the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the bottom left indoor plant 2- grasp the top indoor plant 3- form a horizontal line with the indoor plants 4- done\n\u003c/PRED\u003e","video":"15218013774987891888.mp4"}
+{"uid":"4452378838651937363","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packets in the organizer  left corner upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7400061769281608472.mp4"}
+{"uid":"11018129500210013953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a spoon 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":"294978018579503297.mp4"}
+{"uid":"8731897494971406244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10161776891619108928.mp4"}
+{"uid":"5876426974867337250","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":"17922480485450892249.mp4"}
+{"uid":"7584336778857012135","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10309024629048336154.mp4"}
+{"uid":"7137285047399346695","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the top indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrasp the top indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10145514396504722069.mp4"}
+{"uid":"17937826853070226990","text":"\u003ctask:success:discrete:True\u003e\nMove the top indoor plant to the bottom a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the top indoor plant to the bottom a bit\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- Move the top indoor plant to the bottom a bit Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- Move the top indoor plant to the bottom a bit Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11318672407367092397.mp4"}
+{"uid":"13863529684914177446","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12174480034983121828.mp4"}
+{"uid":"1683834821143959431","text":"\u003ctask:success:discrete:False\u003e\nMove the bottom left indoor plant to the left a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the bottom left indoor plant to the left a bit\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm Q: immediate next step? \u003cPRED\u003eA: Move the bottom left indoor plant to the left a bit\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm Q: next 5 steps? \u003cPRED\u003eA: 1- Move the bottom left indoor plant to the left a bit 2- pick up the knocked indoor plant 3- place the indoor plant upright 4- Touch the table 5- slightly push the left indoor plant to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the bottom left indoor plant to the left a bit\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the bottom left indoor plant to the left a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Move the bottom left indoor plant to the left a bit\n\u003c/PRED\u003e","video":"9790576865713754581.mp4"}
+{"uid":"7549292296883171000","text":"\u003ctask:success:discrete:False\u003e\ntouch the table with the grippers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the table with the grippers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the table with the grippers\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: touch the table with the grippers\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- touch the table with the grippers 2- slightly push the left indoor plant to the right 3- Move the bottom left indoor plant to the right a bit 4- Move away from the left indoor plant 5- grasp the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the table with the grippers\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant Q: immediate next step? \u003cPRED\u003eA: touch the table with the grippers\n\u003c/PRED\u003e","video":"10294980316261358004.mp4"}
+{"uid":"9956973804090570313","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nswitch on the light Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9595327501193253508.mp4"}
+{"uid":"11495015491062211078","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cream 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":"234898069985476455.mp4"}
+{"uid":"6803452178672656761","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the top right indoor plant to the top a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 make a horizontal line fo the plants that are currently in a square shape. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move the top right indoor plant to the top a bit 2- move to the knocked indoor plant 3- move the knocked indoor plant to the left 4- pick up the knocked indoor plant 5- place the indoor plant upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move the top right indoor plant to the top a bit\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Move the top right indoor plant to the top a bit\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the top right indoor plant to the top a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the top right indoor plant to the top a bit\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the top right indoor plant to the top a bit\n\u003c/PRED\u003e","video":"14901577824196385331.mp4"}
+{"uid":"7727073322861220893","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput animal toy 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":"711303155528979099.mp4"}
+{"uid":"10127192548912905156","text":"\u003ctask:success:discrete:True\u003e\nPush the left indoor plant to the right a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 left indoor plant to the right a bit\n\u003c/PRED\u003e","video":"2838105631344843315.mp4"}
+{"uid":"1502893464625920771","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: upright the potted plant on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: upright the potted plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left Q: next 5 steps? \u003cPRED\u003eA: 1- upright the potted plant on the table 2- Touch the table 3- slightly push the left indoor plant to the right 4- Move the bottom left indoor plant to the right a bit 5- Move away from the left indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nupright the potted plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nupright the potted plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left Q: immediate next step? \u003cPRED\u003eA: upright the potted plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: upright the potted plant on the table\n\u003c/PRED\u003e","video":"5520701296348064598.mp4"}
+{"uid":"1162875257367638024","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the indoor plant on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the indoor plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2838976310748006017.mp4"}
+{"uid":"12956989914125935768","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the left indoor plant to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the left indoor plant to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table Q: immediate next step? \u003cPRED\u003eA: Move the left indoor plant to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the left indoor plant to the right 2- Move away from the left indoor plant 3- grasp the bottom left indoor plant 4- place the potted plant on the left side of the other plant 5- grasp the top indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the left indoor plant to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the left indoor plant to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Move the left indoor plant to the right\n\u003c/PRED\u003e","video":"18384485136864103680.mp4"}
+{"uid":"12219749425531705023","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the top indoor plant to the bottom a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 left side indoor plant to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant Q: immediate next step? \u003cPRED\u003eA: Move the top indoor plant to the bottom a bit\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the left side indoor plant to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the top indoor plant to the bottom a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 top indoor plant to the bottom a bit\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Move the top indoor plant to the bottom a bit\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the top indoor plant to the bottom a bit\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant Q: next 5 steps? \u003cPRED\u003eA: 1- Move the top indoor plant to the bottom a bit 2- done\n\u003c/PRED\u003e","video":"15695776811178197728.mp4"}
+{"uid":"9593186896202373715","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left Q: immediate next step? \u003cPRED\u003eA: Pick up the indoor plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Pick up the indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the indoor plant 2- Touch the table 3- slightly push the left indoor plant to the right 4- Move the bottom left indoor plant to the right a bit 5- Move away from the left indoor plant\n\u003c/PRED\u003e","video":"17792326836528364632.mp4"}
+{"uid":"11446624463439455211","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":"13624529910077234676.mp4"}
+{"uid":"1604470133837540074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packets 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":"16328370479846466300.mp4"}
+{"uid":"5841312672020062999","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":"15434008806031769100.mp4"}
+{"uid":"8356566505042918720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4102536917774210377.mp4"}
+{"uid":"15061046995258860645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown chip packet in a glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11108682718480932686.mp4"}
+{"uid":"6650554511912284179","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant Q: immediate next step? \u003cPRED\u003eA: Move the top indoor plant left to the plants on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the top indoor plant left to the plants on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant Q: next 5 steps? \u003cPRED\u003eA: 1- Move the top indoor plant left to the plants on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Move the top indoor plant left to the plants on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the top indoor plant left to the plants on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the top indoor plant left to the plants on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the top indoor plant left to the plants on the table\n\u003c/PRED\u003e","video":"13357745170126342424.mp4"}
+{"uid":"4882295583874621878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15501790295884904168.mp4"}
+{"uid":"12550711753337202139","text":"\u003ctask:success:discrete:True\u003e\nMove the bottom left indoor plant to the right a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 bottom left indoor plant to the right a bit\n\u003c/PRED\u003e","video":"9775273132064933677.mp4"}
+{"uid":"9031391432488713774","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the plant on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Place the plant on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Place the plant on the table 2- slightly push the left indoor plant to the right 3- Move the bottom left indoor plant to the right a bit 4- Move away from the left indoor plant 5- grasp the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the plant on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the plant on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left Q: immediate next step? \u003cPRED\u003eA: Place the plant on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11877316691657803537.mp4"}
+{"uid":"4739844673174930460","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the knocked indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the knocked indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm Q: next 5 steps? \u003cPRED\u003eA: 1- move to the knocked indoor plant 2- move the knocked indoor plant to the left 3- pick up the knocked indoor plant 4- place the indoor plant upright 5- Touch the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the knocked indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm Q: immediate next step? \u003cPRED\u003eA: move to the knocked indoor plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: move to the knocked indoor plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the knocked indoor plant\n\u003c/PRED\u003e","video":"10982177095682079313.mp4"}
+{"uid":"15877431550073521708","text":"\u003ctask:success:discrete:False\u003e\nform a horizontal line with the indoor plants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant Q: immediate next step? \u003cPRED\u003eA: form a horizontal line with the indoor plants\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: form a horizontal line with the indoor plants\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: form a horizontal line with the indoor plants\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nform a horizontal line with the indoor plants Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: form a horizontal line with the indoor plants\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant Q: next 5 steps? \u003cPRED\u003eA: 1- form a horizontal line with the indoor plants 2- done\n\u003c/PRED\u003e","video":"623774283627735858.mp4"}
+{"uid":"17313517644147181724","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the left indoor plant a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 left indoor plant a bit\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the left indoor plant a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm Q: immediate next step? \u003cPRED\u003eA: Pick the left indoor plant a bit\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the left indoor plant a bit\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Pick the left indoor plant a bit\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the left indoor plant a bit 2- place the indoor plant upright 3- Touch the table 4- slightly push the left indoor plant to the right 5- Move the bottom left indoor plant to the right a bit\n\u003c/PRED\u003e","video":"12206839331507024643.mp4"}
+{"uid":"6352729814449662160","text":"\u003ctask:success:discrete:True\u003e\nform a horizontal line with the indoor plants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- form a horizontal line with the indoor plants Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- form a horizontal line with the indoor plants Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: form a horizontal line with the indoor plants\n\u003c/PRED\u003e","video":"14264499312891583398.mp4"}
+{"uid":"17618350123549681362","text":"\u003ctask:success:discrete:True\u003e\nmove to the potted plant slightly left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the potted plant slightly left\n\u003c/PRED\u003e","video":"10845959224968320242.mp4"}
+{"uid":"17596303298360826477","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":"16524865005130845084.mp4"}
+{"uid":"13553024239062187202","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant Q: immediate next step? \u003cPRED\u003eA: move the plant to the left side of the other plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the plant to the left side of the other plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: move the plant to the left side of the other plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- move the plant to the left side of the other plant 2- grasp the top indoor plant 3- form a horizontal line with the indoor plants 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the plant to the left side of the other plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the plant to the left side of the other plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the plant to the left side of the other plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4174989696021948131.mp4"}
+{"uid":"7760350499958041897","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the cue stick Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14754179320858891030.mp4"}
+{"uid":"10729194215737072611","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange candy in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2624316589471646171.mp4"}
+{"uid":"14191483801416614133","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the left side indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the left side indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"873783606988294076.mp4"}
+{"uid":"6305828932856409257","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: separate the indoor plants\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: separate the indoor plants\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: separate the indoor plants\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- separate the indoor plants 2- move to the knocked indoor plant 3- move the knocked indoor plant to the left 4- pick up the knocked indoor plant 5- place the indoor plant upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: separate the indoor plants\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nseparate the indoor plants Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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\nseparate the indoor plants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10912495703575874953.mp4"}
+{"uid":"6255726832513083973","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the left indoor plant to the right plants\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the left indoor plant to the right plants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1383359498611598935.mp4"}
+{"uid":"9888217762381964888","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the knocked indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the knocked indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13185470010018889094.mp4"}
+{"uid":"9734445503700018235","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass 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":"880140877997565341.mp4"}
+{"uid":"11382140454361733702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the popcorn 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":"17496715936742983776.mp4"}
+{"uid":"5903843270566994671","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: separate the indoor plants on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nseparate the indoor plants 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":"18129007847883268546.mp4"}
+{"uid":"734997643631149108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass 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":"15990359813818601234.mp4"}
+{"uid":"4130651205490940520","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the knocked indoor plant to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the knocked indoor plant 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- move the knocked indoor plant to the left 2- pick up the knocked indoor plant 3- place the indoor plant upright 4- Touch the table 5- slightly push the left indoor plant to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the knocked indoor plant to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the knocked indoor plant to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant Q: immediate next step? \u003cPRED\u003eA: move the knocked indoor plant to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: move the knocked indoor plant to the left\n\u003c/PRED\u003e","video":"830892676718480206.mp4"}
+{"uid":"9465648554749152624","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the knocked indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the knocked indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9631332811840581432.mp4"}
+{"uid":"8516405318814142766","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the left side indoor plant to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the left side indoor plant to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the left side indoor plant to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right Q: immediate next step? \u003cPRED\u003eA: move the left side indoor plant to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: move the left side indoor plant to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the left side indoor plant to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right Q: next 5 steps? \u003cPRED\u003eA: 1- move the left side indoor plant to the right 2- grasp the bottom left indoor plant 3- place the potted plant on the left side of the other plant 4- grasp the top indoor plant 5- form a horizontal line with the indoor plants\n\u003c/PRED\u003e","video":"4810215919286023117.mp4"}
+{"uid":"17796132830642154296","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- Push the left indoor plant to the right a bit 2- form a horizontal line with the indoor plants 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant Q: immediate next step? \u003cPRED\u003eA: Push the left indoor plant to the right a bit\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the left indoor plant to the right a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the left indoor plant to the right a bit\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the left indoor plant to the right a bit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Push the left indoor plant to the right a bit\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the left indoor plant to the right a bit\n\u003c/PRED\u003e","video":"17715431440261024506.mp4"}
+{"uid":"11938591571804871888","text":"\u003ctask:success:discrete:True\u003e\nMove the top right indoor plant to the top a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 top right indoor plant to the top a bit\n\u003c/PRED\u003e","video":"4837449914704954827.mp4"}
+{"uid":"10818239934577894633","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":"18415477760089796499.mp4"}
+{"uid":"11188629097805209371","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the indoor plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: pick the indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant Q: immediate next step? \u003cPRED\u003eA: pick the indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- pick the indoor plant 2- place the indoor plant upright 3- Touch the table 4- slightly push the left indoor plant to the right 5- Move the bottom left indoor plant to the right a bit\n\u003c/PRED\u003e","video":"6404072850397974049.mp4"}
+{"uid":"2210624115050822772","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the top indoor plant 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move the top indoor plant to the left 2- move to the knocked indoor plant 3- move the knocked indoor plant to the left 4- pick up the knocked indoor plant 5- place the indoor plant upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the top indoor plant to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the top indoor plant to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move the top indoor plant to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: move the top indoor plant to the left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the top indoor plant to the left\n\u003c/PRED\u003e","video":"12615075924002314312.mp4"}
+{"uid":"11520597579158653283","text":"\u003ctask:success:discrete:False\u003e\ngrasp the bottom left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: grasp the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the bottom left indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm Q: immediate next step? \u003cPRED\u003eA: grasp the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the bottom left indoor plant 2- pick up the knocked indoor plant 3- place the indoor plant upright 4- Touch the table 5- slightly push the left indoor plant to the right\n\u003c/PRED\u003e","video":"15008382301477454565.mp4"}
+{"uid":"1759290723989388980","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: move the indoor plant to the left of the second right indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the indoor plant to the left of the second right indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the indoor plant to the left of the second right indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the indoor plant to the left of the second right indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the indoor plant to the left of the second right indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant Q: immediate next step? \u003cPRED\u003eA: move the indoor plant to the left of the second right indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- move the indoor plant to the left of the second right indoor plant 2- form a horizontal line with the indoor plants 3- done\n\u003c/PRED\u003e","video":"3824712692334365689.mp4"}
+{"uid":"4545245433821111806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut  brown  sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"143018570688512809.mp4"}
+{"uid":"615077963626723307","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the left side indoor plant to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- move the left side indoor plant to the right 2- form a horizontal line with the indoor plants 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the left side indoor plant to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: move the left side indoor plant to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the left side indoor plant to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant Q: immediate next step? \u003cPRED\u003eA: move the left side indoor plant to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the left side indoor plant to the right\n\u003c/PRED\u003e","video":"5717524010701891350.mp4"}
+{"uid":"12084114339440271977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the spoon Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4955096197158623776.mp4"}
+{"uid":"8913526104938238625","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":"3902495565889634569.mp4"}
+{"uid":"5569369898967121214","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the top indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- grasp the top indoor plant Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant 13- grasp the top indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrasp the top indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13127257951377174219.mp4"}
+{"uid":"2877135572445968079","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the left indoor plant to the right plants\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Move the left indoor plant to the right plants\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the left indoor plant to the right plants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 left indoor plant to the right plants\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- Move the left indoor plant to the right plants 2- form a horizontal line with the indoor plants 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the left indoor plant to the right plants Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant Q: immediate next step? \u003cPRED\u003eA: Move the left indoor plant to the right plants\n\u003c/PRED\u003e","video":"14135192608944535187.mp4"}
+{"uid":"392682250232138102","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the left indoor plant to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the left indoor plant to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10316787021528513546.mp4"}
+{"uid":"11315561361368712026","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the knocked indoor plant 2- place the indoor plant upright 3- Touch the table 4- slightly push the left indoor plant to the right 5- Move the bottom left indoor plant to the right a bit\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the knocked indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the knocked indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the knocked indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the knocked indoor plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: pick up the knocked indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left Q: immediate next step? \u003cPRED\u003eA: pick up the knocked indoor plant\n\u003c/PRED\u003e","video":"16132329803407860848.mp4"}
+{"uid":"168373580324516026","text":"\u003ctask:success:discrete:True\u003e\nmove the left side indoor plant to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the left side indoor plant to the right\n\u003c/PRED\u003e","video":"15567883353504436984.mp4"}
+{"uid":"14010170182647001510","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the papers on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"458900132624134019.mp4"}
+{"uid":"10283052351621698054","text":"\u003ctask:success:discrete:True\u003e\nMove the bottom left indoor plant to the left a bit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 bottom left indoor plant to the left a bit\n\u003c/PRED\u003e","video":"9756817970133066390.mp4"}
+{"uid":"738163553954886179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack up 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":"12070282564378730766.mp4"}
+{"uid":"6281402188385971659","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the top indoor plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant Q: immediate next step? \u003cPRED\u003eA: grasp the top indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the top indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant 11- grasp the bottom left indoor plant 12- place the potted plant on the left side of the other plant Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the top indoor plant 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: grasp the top indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the top indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the top indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1739907877134028485.mp4"}
+{"uid":"8655569560187495485","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the left indoor plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the left indoor plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: Move away from the left indoor plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the left indoor plant 2- grasp the bottom left indoor plant 3- place the potted plant on the left side of the other plant 4- grasp the top indoor plant 5- form a horizontal line with the indoor plants\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit Q: immediate next step? \u003cPRED\u003eA: Move away from the left indoor plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the left indoor plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10333867861609880639.mp4"}
+{"uid":"15061020523591493758","text":"\u003ctask:success:discrete:True\u003e\nPick up the indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the indoor plant\n\u003c/PRED\u003e","video":"14460237756014381880.mp4"}
+{"uid":"651862116627789599","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the bottom left indoor plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrasp the bottom left indoor plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9301255345854108498.mp4"}
+{"uid":"188291511150121387","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup 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":"16802820447403961837.mp4"}
+{"uid":"5688900351174281598","text":"\u003ctask:success:discrete:False\u003e\nplace the potted plant on the left side of the other plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the potted plant on the left side of the other plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape Q: immediate next step? \u003cPRED\u003eA: place the potted plant on the left side of the other plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant Q: immediate next step? \u003cPRED\u003eA: place the potted plant on the left side of the other plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the potted plant on the left side of the other plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make a horizontal line fo the plants that are currently in a square shape. last 20 steps: 1- move to the potted plant slightly left 2- lift your arm 3- move to the knocked indoor plant 4- move the knocked indoor plant to the left 5- pick up the knocked indoor plant 6- place the indoor plant upright 7- Touch the table 8- slightly push the left indoor plant to the right 9- Move the bottom left indoor plant to the right a bit 10- Move away from the left indoor plant Q: next 5 steps? \u003cPRED\u003eA: 1- place the potted plant on the left side of the other plant 2- grasp the top indoor plant 3- form a horizontal line with the indoor plants 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the potted plant on the left side of the other plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2806720242128071239.mp4"}
+{"uid":"6743684195135086653","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- put packet on the table 3- close the drawer Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- put packet on the table 3- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14045548685138472862.mp4"}
+{"uid":"4566596907119367662","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: Pick up the glass jar lid put it on the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the glass jar lid put it on the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the glass jar lid put it on the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the glass jar lid put it on the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the glass jar lid put it on the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table 2- Remove the lid of the glass container place it on the table 3- Pick up the scooper from the black container. 4- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 5- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 6- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 7- Put the scooper back in the black container Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the glass jar lid put it on the glass jar 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table 2- Remove the lid of the glass container place it on the table 3- Pick up the scooper from the black container. 4- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 5- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 6- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 7- Put the scooper back in the black container Q: immediate next step? \u003cPRED\u003eA: Pick up the glass jar lid put it on the glass jar\n\u003c/PRED\u003e","video":"4698522413503281226.mp4"}
+{"uid":"8934055036718221975","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table 2- Remove the lid of the glass container place it on the table 3- Pick up the scooper from the black container. 4- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table Q: immediate next step? \u003cPRED\u003eA: Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table 2- Remove the lid of the glass container place it on the table 3- Pick up the scooper from the black container. 4- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table Q: next 5 steps? \u003cPRED\u003eA: 1- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 2- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 3- Put the scooper back in the black container 4- Pick up the glass jar lid put it on the glass jar 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed 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":"4375699513453207922.mp4"}
+{"uid":"1189286900832132571","text":"\u003ctask:success:discrete:True\u003e\nPlace the plastic cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the plastic cup on table\n\u003c/PRED\u003e","video":"3084058640155195391.mp4"}
+{"uid":"2330402637443081053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8155001783824506166.mp4"}
+{"uid":"5209804900122609802","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the plastic cup straight on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the plastic cup straight on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9669787633099322483.mp4"}
+{"uid":"4165542849581016278","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table 2- Remove the lid of the glass container place it on the table 3- Pick up the scooper from the black container. 4- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 5- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table Q: immediate next step? \u003cPRED\u003eA: Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table 2- Remove the lid of the glass container place it on the table 3- Pick up the scooper from the black container. 4- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 5- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table Q: next 5 steps? \u003cPRED\u003eA: 1- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 2- Put the scooper back in the black container 3- Pick up the glass jar lid put it on the glass jar 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed 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":"14384810938378065295.mp4"}
+{"uid":"14554285665737283767","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the plastic cup 2- grab the galss 3- upright the glass 4- upright the glass 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: flip the cups Q: immediate next step? \u003cPRED\u003eA: Pick up the plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the plastic 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\nPick up the plastic 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: Pick up the plastic cup\n\u003c/PRED\u003e","video":"5967442897567683034.mp4"}
+{"uid":"9432177105133633066","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nupright 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","video":"540252018803367218.mp4"}
+{"uid":"17653729642997186504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the coconut tetra packet 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":"14408975054706172814.mp4"}
+{"uid":"10297724803456134224","text":"\u003ctask:success:discrete:True\u003e\nFill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed 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: Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e","video":"11610719744752033241.mp4"}
+{"uid":"16030558218867773609","text":"\u003ctask:success:discrete:True\u003e\nPlace the plastic cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the plastic cup on table\n\u003c/PRED\u003e","video":"16290516837795349754.mp4"}
+{"uid":"16155485248604974432","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: flip the cups Q: immediate next step? \u003cPRED\u003eA: Place the plastic cup straight on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the plastic cup straight on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the plastic cup straight on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the plastic cup straight on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the plastic cup straight on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the plastic cup straight on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass 4- grab the galss 5- upright the glass\n\u003c/PRED\u003e","video":"10718774938381885059.mp4"}
+{"uid":"7702334953240391480","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab 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","video":"14398986631190603282.mp4"}
+{"uid":"17981328593513798906","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- close the drawer 3- put packet on the table 4- done\n\u003c/PRED\u003e","video":"11757778492029305733.mp4"}
+{"uid":"2151377702524450902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHang the bag 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":"15434591084089941569.mp4"}
+{"uid":"5571432465057115619","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: flip the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass 4- grab the galss 5- upright the glass 6- Place the plastic cup on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the plastic cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the plastic cup on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass 4- grab the galss 5- upright the glass 6- Place the plastic cup on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3379423444157374995.mp4"}
+{"uid":"13213259442346077616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack a cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14317046019386532647.mp4"}
+{"uid":"2231728652240805584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange candy in 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":"14825611566540076257.mp4"}
+{"uid":"5412187313188329348","text":"\u003ctask:success:discrete:True\u003e\nupright 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: upright the glass\n\u003c/PRED\u003e","video":"15573139466928026087.mp4"}
+{"uid":"320716207536116896","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- put packet on the table 3- close the drawer 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- put packet on the table 3- close the drawer 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2310210955257726320.mp4"}
+{"uid":"14252562143411344743","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: flip the cups Q: immediate next step? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nupright 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\nupright 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: flip the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- upright the glass 2- grab the glass 3- upright the glass 4- grab the galss 5- upright the glass\n\u003c/PRED\u003e","video":"17125582026576958037.mp4"}
+{"uid":"4502061331512362876","text":"\u003ctask:success:discrete:True\u003e\nPick up the plastic 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 plastic cup\n\u003c/PRED\u003e","video":"4413333165504708967.mp4"}
+{"uid":"5068561149151473406","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Remove the cup from the cup stack put it on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRemove the cup from the cup stack put it 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":"17372010084764490116.mp4"}
+{"uid":"7307393751828604685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15393523471721022235.mp4"}
+{"uid":"6671407007145122608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"96937632314145972.mp4"}
+{"uid":"349002972266048988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"8048809286936991573.mp4"}
+{"uid":"2433138940922258880","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":"10664961124866529619.mp4"}
+{"uid":"17241256856860750835","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic 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":"14775259956361408379.mp4"}
+{"uid":"15217428067427815786","text":"\u003ctask:success:discrete:True\u003e\nupright 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass 4- grab the galss 5- upright the glass 6- upright the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: flip the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass 4- grab the galss 5- upright the glass 6- upright the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"14163123399976829791.mp4"}
+{"uid":"15766096801126920019","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table 2- Remove the lid of the glass container place it on the table 3- Pick up the scooper from the black container. 4- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 5- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 6- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 7- Put the scooper back in the black container 8- Pick up the glass jar lid put it on the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the glass jar lid put it on the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table 2- Remove the lid of the glass container place it on the table 3- Pick up the scooper from the black container. 4- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 5- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 6- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 7- Put the scooper back in the black container 8- Pick up the glass jar lid put it on the glass jar 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 glass jar lid put it on the glass jar\n\u003c/PRED\u003e","video":"2232732002219336588.mp4"}
+{"uid":"14512445756102536925","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the galss\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass Q: immediate next step? \u003cPRED\u003eA: grab the galss\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the galss\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the galss Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the galss Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: flip the cups Q: immediate next step? \u003cPRED\u003eA: grab the galss\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass Q: next 5 steps? \u003cPRED\u003eA: 1- grab the galss 2- upright the glass 3- upright the glass 4- done\n\u003c/PRED\u003e","video":"14772073658614488825.mp4"}
+{"uid":"12521095558496327251","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the plastic cup on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: flip the cups Q: immediate next step? \u003cPRED\u003eA: Place the plastic cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the plastic cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass Q: immediate next step? \u003cPRED\u003eA: Place the plastic cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the plastic cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the plastic cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the plastic cup on table 2- grab the galss 3- upright the glass 4- upright the glass 5- done\n\u003c/PRED\u003e","video":"5090535081796577890.mp4"}
+{"uid":"16258809064203653538","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15585945211705840943.mp4"}
+{"uid":"4472430383214580669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the silver packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12584606360638257705.mp4"}
+{"uid":"54762957343502214","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":"17042157105328529249.mp4"}
+{"uid":"1041273496881161162","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8357345110701897446.mp4"}
+{"uid":"11299116700505036395","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table Q: next 5 steps? \u003cPRED\u003eA: 1- grab the glass 2- upright the glass 3- grab the galss 4- upright the glass 5- upright the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: flip the cups Q: immediate next step? \u003cPRED\u003eA: grab the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab 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:success:discrete:False\u003e\ngrab the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table Q: immediate next step? \u003cPRED\u003eA: grab the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the glass\n\u003c/PRED\u003e","video":"3965188885064348274.mp4"}
+{"uid":"16108637118741648394","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass 4- grab the galss Q: next 5 steps? \u003cPRED\u003eA: 1- upright the glass 2- upright the glass 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nupright 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: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass 4- grab the galss Q: immediate next step? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nupright the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: flip the cups Q: immediate next step? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e","video":"3416961405725695680.mp4"}
+{"uid":"10370868298571620876","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Remove the cup from the cup stack put it on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: Remove the cup from the cup stack put it on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Remove the cup from the cup stack put it on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Remove the cup from the cup stack put it on the table 2- Remove the lid of the glass container place it on the table 3- Pick up the scooper from the black container. 4- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 5- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRemove the cup from the cup stack put it on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Remove the cup from the cup stack put it on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRemove the cup from the cup stack put it 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":"11121770563515830369.mp4"}
+{"uid":"443192315858433264","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the plastic cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the plastic cup on table 2- upright the glass 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the plastic cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the plastic cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: flip the cups Q: immediate next step? \u003cPRED\u003eA: Place the plastic cup on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the plastic cup on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass Q: immediate next step? \u003cPRED\u003eA: Place the plastic cup on table\n\u003c/PRED\u003e","video":"605949941459565795.mp4"}
+{"uid":"9047851978956900917","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":"13235543154820472419.mp4"}
+{"uid":"9274397109130184304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16202705074137253531.mp4"}
+{"uid":"16907727271937977581","text":"\u003ctask:success:discrete:False\u003e\nPick up the scooper from the black container. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the scooper from the black container. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table 2- Remove the lid of the glass container place it on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the scooper from the black container.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the scooper from the black container.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: Pick up the scooper from the black container.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the scooper from the black container.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table 2- Remove the lid of the glass container place it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the scooper from the black container. 2- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 3- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 4- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 5- Put the scooper back in the black container\n\u003c/PRED\u003e","video":"14129013376090581186.mp4"}
+{"uid":"8425152595723224135","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a candy in 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":"9204581853391105507.mp4"}
+{"uid":"1130033392190717922","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nupright 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","video":"12965839392169040749.mp4"}
+{"uid":"17222390828712167993","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk. 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: get me a snack from Mk kitchen to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put packet on the table 3- close the drawer 4- put packet on the table 5- done\n\u003c/PRED\u003e","video":"13566435236687293370.mp4"}
+{"uid":"15880399999048881721","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: Put the scooper back in the black container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scooper back in the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table 2- Remove the lid of the glass container place it on the table 3- Pick up the scooper from the black container. 4- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 5- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 6- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scooper back in the black container 2- Pick up the glass jar lid put it on the glass jar 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table 2- Remove the lid of the glass container place it on the table 3- Pick up the scooper from the black container. 4- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 5- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 6- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table Q: immediate next step? \u003cPRED\u003eA: Put the scooper back in the black container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scooper back in the black container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scooper back in the black container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the scooper back in the black container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13814668733331708159.mp4"}
+{"uid":"16677746284811732022","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: flip the cups Q: immediate next step? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nupright 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: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass 4- grab the galss 5- upright the glass Q: next 5 steps? \u003cPRED\u003eA: 1- upright the glass 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass 4- grab the galss 5- upright the glass Q: immediate next step? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e","video":"5032320998980368959.mp4"}
+{"uid":"11747028164066438324","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass 4- grab the galss 5- upright the glass Q: next 5 steps? \u003cPRED\u003eA: 1- turn the glass upside 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass 4- grab the galss 5- upright the glass Q: immediate next step? \u003cPRED\u003eA: turn the glass upside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn the glass upside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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: turn the glass upside\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: flip the cups Q: immediate next step? \u003cPRED\u003eA: turn the glass upside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn the glass upside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nturn the glass upside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15479408835647262761.mp4"}
+{"uid":"906130960184144800","text":"\u003ctask:success:discrete:False\u003e\nFill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed 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: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table 2- Remove the lid of the glass container place it on the table 3- Pick up the scooper from the black container. Q: next 5 steps? \u003cPRED\u003eA: 1- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 2- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 3- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 4- Put the scooper back in the black container 5- Pick up the glass jar lid put it on the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table 2- Remove the lid of the glass container place it on the table 3- Pick up the scooper from the black container. Q: immediate next step? \u003cPRED\u003eA: Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e","video":"12225488864485291599.mp4"}
+{"uid":"14247528425499924731","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":"13781483927236030961.mp4"}
+{"uid":"7668716750393806965","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Remove the lid of the glass container place it on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK Q: immediate next step? \u003cPRED\u003eA: Remove the lid of the glass container place it on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Remove the lid of the glass container place it on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table Q: immediate next step? \u003cPRED\u003eA: Remove the lid of the glass container place it on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRemove the lid of the glass container place it on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a bowl of pistachios from the MK. last 20 steps: 1- Remove the cup from the cup stack put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Remove the lid of the glass container place it on the table 2- Pick up the scooper from the black container. 3- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 4- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table 5- Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRemove the lid of the glass container place it 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":"12130031439643939420.mp4"}
+{"uid":"10724594392470830887","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the pink marker tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11971596222838938999.mp4"}
+{"uid":"4768470026714562227","text":"\u003ctask:success:discrete:False\u003e\nupright 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass Q: immediate next step? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass Q: next 5 steps? \u003cPRED\u003eA: 1- upright the glass 2- grab the galss 3- upright the glass 4- upright the glass 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nupright 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: flip the cups Q: immediate next step? \u003cPRED\u003eA: upright the glass\n\u003c/PRED\u003e","video":"7601833261893091208.mp4"}
+{"uid":"10634299308699667858","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":"16404053622551085656.mp4"}
+{"uid":"10839805449897948303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace spoon in spoons 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":"3014070319903711814.mp4"}
+{"uid":"14177833650731610714","text":"\u003ctask:success:discrete:True\u003e\nturn the glass upside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass 4- grab the galss 5- upright the glass 6- turn the glass upside Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass 4- grab the galss 5- upright the glass 6- turn the glass upside Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: flip the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: turn the glass upside\n\u003c/PRED\u003e","video":"15266126215219419272.mp4"}
+{"uid":"9658427632120034078","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":"11337501715876376471.mp4"}
+{"uid":"13819332911526964224","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Remove the lid of the glass container place it on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRemove the lid of the glass container place it 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":"5210944776939455748.mp4"}
+{"uid":"6181336827787719838","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: flip the cups Q: immediate next step? \u003cPRED\u003eA: Place the plastic cup on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass 4- grab the galss 5- upright the glass Q: immediate next step? \u003cPRED\u003eA: Place the plastic cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the plastic cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the plastic cup on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the plastic cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the plastic cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: flip the cups. last 20 steps: 1- Place the plastic cup straight on table 2- grab the glass 3- upright the glass 4- grab the galss 5- upright the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the plastic cup on table 2- done\n\u003c/PRED\u003e","video":"2388711401642740298.mp4"}
+{"uid":"10615239456772316589","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me a snack from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"8018828168834768954.mp4"}
+{"uid":"10101222353494753978","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista 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":"14477842053955831463.mp4"}
+{"uid":"17074436841611047993","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nFill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2495441076026778503.mp4"}
+{"uid":"4065812703644072154","text":"\u003ctask:success:discrete:True\u003e\nFill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed 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: Fill pista's in scooper by inserting it in glass jar unfill the scooper in the cup placed on table\n\u003c/PRED\u003e","video":"15749467767236541342.mp4"}
+{"uid":"7887488504596081632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the top blue 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":"720937868337473329.mp4"}
+{"uid":"6308812561628627255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 6 seaweed snack packet in a tray. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3124603472625175845.mp4"}
+{"uid":"2961562295218612505","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11399652412377743359.mp4"}
+{"uid":"9602924101183132827","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop cup in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop cup in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9720070078973824976.mp4"}
+{"uid":"13252531353863992756","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop white packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8997990132672367374.mp4"}
+{"uid":"9020606991692813576","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the coffee cup into the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the coffee cup into 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":"4703825215662476938.mp4"}
+{"uid":"2468720425685987594","text":"\u003ctask:success:discrete:False\u003e\nput pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- put pear in the bowl 5- put pear in the bowl 6- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pear in the bowl 2- put apple in the bowl 3- put pear in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- put pear in the bowl 5- put pear in the bowl 6- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear 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 pear in the bowl\n\u003c/PRED\u003e","video":"16166689252535167648.mp4"}
+{"uid":"5231262654849151274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sanitizer bottle in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15385439687424612787.mp4"}
+{"uid":"13770692455940391477","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5122349434207181191.mp4"}
+{"uid":"13379324186440710757","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the brown paper into the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the brown paper into 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":"10744471374668099659.mp4"}
+{"uid":"9967076828759419640","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 white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the white packet into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container Q: next 5 steps? \u003cPRED\u003eA: 1- drop white packet in glass jar 2- Place the white packet into the container 3- Place the blue packet into the container 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet into the container 2- Place the white packet into the container 3- Place the blue packet into the container 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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container Q: immediate next step? \u003cPRED\u003eA: Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Place the white packet into the container\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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container Q: immediate next step? \u003cPRED\u003eA: drop white packet in glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop white packet in glass jar\n\u003c/PRED\u003e","video":"14263942402115976155.mp4"}
+{"uid":"8712908725736357598","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"561548603188837755.mp4"}
+{"uid":"11545782237674341793","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop brown paper in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop brown paper in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"72091162117788411.mp4"}
+{"uid":"7632645666753203382","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 cup in 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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin Q: immediate next step? \u003cPRED\u003eA: drop cup in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop cup in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- drop cup in dustbin 2- Place the white packet into the container 3- Place the white packet into the container 4- Place the white packet into the container 5- Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop cup in dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop cup in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop cup in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5465040158447496928.mp4"}
+{"uid":"9121644088770620715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace soap bowl 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":"8108907655828673313.mp4"}
+{"uid":"3377162036532215549","text":"\u003ctask:success:discrete:True\u003e\nPut the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white packet in the jar\n\u003c/PRED\u003e","video":"4125767268942193419.mp4"}
+{"uid":"7027826082467635293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cup upside down 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":"13965814747820123991.mp4"}
+{"uid":"6709158928107353849","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":"3909583202854781688.mp4"}
+{"uid":"9123287837008198902","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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin Q: immediate next step? \u003cPRED\u003eA: Place the coffee cup into the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the coffee cup into the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Place the coffee cup into the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the coffee cup into the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the coffee cup into 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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Place the coffee cup into the dustbin 2- Place the white packet into the container 3- Place the white packet into the container 4- Place the white packet into the container 5- Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the coffee cup into 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":"10185261961893642647.mp4"}
+{"uid":"17400169536286552295","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the jar\n\u003c/PRED\u003e\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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the jar\n\u003c/PRED\u003e\u003ctask: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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the jar 2- Place the white packet into the container 3- Place the white packet into the container 4- Place the blue packet into the container 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in the jar\n\u003c/PRED\u003e","video":"13005211571566448924.mp4"}
+{"uid":"16555812502282744196","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear 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 pear 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 pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pear in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- put pear in the bowl 5- put apple in the bowl\n\u003c/PRED\u003e","video":"16230953686876760852.mp4"}
+{"uid":"12357379556281581591","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the red cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3319227021579690712.mp4"}
+{"uid":"15872482130472496366","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- put pear in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- put pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pear in the bowl 2- put apple in the bowl 3- put pear in the bowl 4- put apple in the bowl 5- put pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear 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:discriminative:discrete:False\u003e\nplace pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5291251394476399889.mp4"}
+{"uid":"881040369608516851","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the toffee 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":"2573074491484928301.mp4"}
+{"uid":"12220568593506609703","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the jar 2- Place the white packet into the container 3- Place the blue packet into the container 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the jar\n\u003c/PRED\u003e","video":"8272188334537760922.mp4"}
+{"uid":"16656996656572023044","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":"14927283694924937560.mp4"}
+{"uid":"5467587775122660413","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- Place the brown paper into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Place the coffee cup into the dustbin 2- Place the coffee cup into the dustbin 3- Place the white packet into the container 4- Place the white packet into the container 5- Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the coffee cup into 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- Place the brown paper into the dustbin Q: immediate next step? \u003cPRED\u003eA: Place the coffee cup into the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the coffee cup into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the coffee cup into the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the coffee cup into the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Place the coffee cup into the dustbin\n\u003c/PRED\u003e","video":"615904105476019081.mp4"}
+{"uid":"4721295725442646850","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop white packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18235698989988444132.mp4"}
+{"uid":"15523600727641029354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow marker on the left side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"2392893565786127388.mp4"}
+{"uid":"12160719503496188896","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pear in the bowl 2- put apple in the bowl 3- put pear in the bowl 4- put pear in the bowl 5- put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e","video":"8947288593626642480.mp4"}
+{"uid":"2164871824052965674","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container 6- Place the white packet into the container Q: next 5 steps? \u003cPRED\u003eA: 1- drop white packet in glass jar 2- Place the blue packet into the container 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop white packet in glass 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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container 6- Place the white packet into the container Q: immediate next step? \u003cPRED\u003eA: drop white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop white packet in glass 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 white packet in glass jar\n\u003c/PRED\u003e","video":"17529125470990632794.mp4"}
+{"uid":"11660141622538297133","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown paper into the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brown paper into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown paper into 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: none Q: immediate next step? \u003cPRED\u003eA: Place the brown paper into the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Place the brown paper into the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown paper into 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":"17812578771319260952.mp4"}
+{"uid":"8965371502636596213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13901647612663639397.mp4"}
+{"uid":"12147502745374893720","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container 6- Place the white packet into the container 7- Place the white packet into the container Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet in the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container 6- Place the white packet into the container 7- Place the white packet into the container Q: immediate next step? \u003cPRED\u003eA: Put the 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 blue packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10052678964628031468.mp4"}
+{"uid":"8576608441171234585","text":"\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- put pear in the bowl 5- put pear in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- put pear in the bowl 5- put pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- put pear in the bowl 5- done\n\u003c/PRED\u003e","video":"8437704364033075861.mp4"}
+{"uid":"17781518116358139242","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- put pear in the bowl 5- put pear in the bowl 6- put apple in the bowl 7- put pear in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- put pear in the bowl 5- put pear in the bowl 6- put apple in the bowl 7- put pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put pear in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10607737453807824790.mp4"}
+{"uid":"1314179641844406023","text":"\u003ctask:success:discrete:True\u003e\nPlace the white packet into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the white packet into the container\n\u003c/PRED\u003e","video":"2413904783713359893.mp4"}
+{"uid":"426210788278455237","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put pear in the bowl 3- put pear in the bowl 4- put apple in the bowl 5- put pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10279490580064897614.mp4"}
+{"uid":"11513280890392379841","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packet into the container\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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container Q: immediate next step? \u003cPRED\u003eA: Place the white packet into the container\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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet into the container 2- Place the white packet into the container 3- Place the white packet into the container 4- Place the blue packet into the container 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Place the white packet into the container\n\u003c/PRED\u003e","video":"4979396955128440172.mp4"}
+{"uid":"5918412313012590678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy 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":"3385716753201649895.mp4"}
+{"uid":"7293201088187820585","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tilted glass in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tilted glass 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 cup in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop cup in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13571093340552141877.mp4"}
+{"uid":"4738846574283991194","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14882103193038906673.mp4"}
+{"uid":"4054833555774374473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange 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":"6703315270794034379.mp4"}
+{"uid":"12517049397309620978","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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container Q: next 5 steps? \u003cPRED\u003eA: 1- drop white paper in glass jar 2- Place the white packet into the container 3- Place the white packet into the container 4- Place the blue packet into the container 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop white paper in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop white paper in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 white paper in glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop white paper in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop white paper in glass 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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container Q: immediate next step? \u003cPRED\u003eA: drop white paper in glass jar\n\u003c/PRED\u003e","video":"4113585341108452579.mp4"}
+{"uid":"13603992184466394424","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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin Q: immediate next step? \u003cPRED\u003eA: Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the white packet into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packet into the container\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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet into the container 2- Place the white packet into the container 3- Place the white packet into the container 4- Place the white packet into the container 5- Place the blue packet into the container\n\u003c/PRED\u003e","video":"15557151208638014705.mp4"}
+{"uid":"15144058886051186000","text":"\u003ctask:success:discrete:False\u003e\ndrop white packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- drop white packet in glass jar 2- Place the white packet into the container 3- Place the white packet into the container 4- Place the white packet into the container 5- Place the blue packet into the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop white packet in glass 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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin Q: immediate next step? \u003cPRED\u003eA: drop white packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop white packet in glass 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 white packet in glass jar\n\u003c/PRED\u003e","video":"15690587164612517279.mp4"}
+{"uid":"10587777644246197497","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy 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":"13773832242803803028.mp4"}
+{"uid":"12945476748161731449","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":"3272890418508414849.mp4"}
+{"uid":"957644910251366165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic knives in the black cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10667665767719639936.mp4"}
+{"uid":"1615859910360211085","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: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop brown paper in dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop brown paper in 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: none Q: immediate next step? \u003cPRED\u003eA: drop brown paper in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop brown paper in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: drop brown paper in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop brown paper in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop brown paper in dustbin\n\u003c/PRED\u003e","video":"10924046237390132173.mp4"}
+{"uid":"13248994923745774358","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":"382900815660369386.mp4"}
+{"uid":"2766224742486003374","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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container 6- Place the white packet into the container 7- Place the white packet into the container 8- Place the blue packet into the container Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask: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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container 6- Place the white packet into the container 7- Place the white packet into the container 8- Place the blue packet into the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue packet into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue packet into the container\n\u003c/PRED\u003e","video":"1226733209039174814.mp4"}
+{"uid":"5711995599619038583","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the coffee cup into the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the coffee cup into 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":"2595070238926645689.mp4"}
+{"uid":"14608996002867911373","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tilted glass in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass 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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tilted glass in the dustbin 2- Place the white packet into the container 3- Place the white packet into the container 4- Place the white packet into the container 5- Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tilted glass 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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tilted glass in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tilted glass in the dustbin\n\u003c/PRED\u003e","video":"10223563987551135165.mp4"}
+{"uid":"8746539113557205515","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the lid of the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5202138576906045139.mp4"}
+{"uid":"11134353217709048807","text":"\u003ctask:success:discrete:False\u003e\nPut 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: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 brown crushed paper in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown crushed paper in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown crushed paper in the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put 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: none Q: immediate next step? \u003cPRED\u003eA: Put the brown crushed paper in the dustbin\n\u003c/PRED\u003e","video":"14156581477066341639.mp4"}
+{"uid":"9744941377422207426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3823320837885082525.mp4"}
+{"uid":"16021527411005084324","text":"\u003ctask:success:discrete:False\u003e\nPlace the blue packet into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container 6- Place the white packet into the container 7- Place the white packet into the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue packet into the container 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue packet into the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Place the blue packet into the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue packet into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue packet into the container\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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container 6- Place the white packet into the container 7- Place the white packet into the container Q: immediate next step? \u003cPRED\u003eA: Place the blue packet into the container\n\u003c/PRED\u003e","video":"15370283410935448891.mp4"}
+{"uid":"9238443709944985886","text":"\u003ctask:success:discrete:True\u003e\nPut 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown crushed paper in the dustbin\n\u003c/PRED\u003e","video":"14201290903730669640.mp4"}
+{"uid":"10047396596562950765","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"1472277962547130174.mp4"}
+{"uid":"6796220107393451754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15157001000470056383.mp4"}
+{"uid":"15801227351937444179","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packet into the container\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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container 6- Place the white packet into the container Q: immediate next step? \u003cPRED\u003eA: Place the white packet into the container\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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container 6- Place the white packet into the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet into the container 2- Place the blue packet into the container 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Place the white packet into the container\n\u003c/PRED\u003e","video":"4476071377324105819.mp4"}
+{"uid":"1455380944347940232","text":"\u003ctask:success:discrete:True\u003e\nPut the tilted glass in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tilted glass in the dustbin\n\u003c/PRED\u003e","video":"15618255683823687304.mp4"}
+{"uid":"5266269671049974104","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":"757546266627620497.mp4"}
+{"uid":"15053687083866565097","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear 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: Place the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- put pear in the bowl 5- put pear in the bowl 6- put apple in the bowl 7- put pear in the bowl 8- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pear in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear 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 pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- put pear in the bowl 5- put pear in the bowl 6- put apple in the bowl 7- put pear in the bowl 8- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e","video":"4251979568355730402.mp4"}
+{"uid":"8714963229824742786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the duster on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1753811851384340456.mp4"}
+{"uid":"16652741151274700617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the scoop 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":"17384458224280954822.mp4"}
+{"uid":"7089470626468357564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"596344627227683864.mp4"}
+{"uid":"3109730577324489249","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":"5967196507046651.mp4"}
+{"uid":"13015464095285218697","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Put the white packet in the jar\n\u003c/PRED\u003e\u003ctask: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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the jar 2- Place the white packet into the container 3- Place the white packet into the container 4- Place the white packet into the container 5- Place the blue packet into the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in the jar\n\u003c/PRED\u003e","video":"9695957727255028080.mp4"}
+{"uid":"18063413977722378938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the smart 50 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":"5603764930358583818.mp4"}
+{"uid":"4655565956214784853","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":"12655851732932669157.mp4"}
+{"uid":"7177253402587177186","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop cup in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop cup in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Place the brown paper into the dustbin Q: immediate next step? \u003cPRED\u003eA: drop cup in 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- Place the brown paper into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- drop cup in dustbin 2- Place the coffee cup into the dustbin 3- Place the white packet into the container 4- Place the white packet into the container 5- Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop cup in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop cup in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: drop cup in dustbin\n\u003c/PRED\u003e","video":"11862424336148415885.mp4"}
+{"uid":"4459829073859014469","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop blue packet in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop blue packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop blue packet in glass 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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container 6- Place the white packet into the container 7- Place the white packet into the container Q: immediate next step? \u003cPRED\u003eA: drop blue packet in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop blue packet in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 blue packet in glass 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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container 6- Place the white packet into the container 7- Place the white packet into the container Q: next 5 steps? \u003cPRED\u003eA: 1- drop blue packet in glass jar 2- done\n\u003c/PRED\u003e","video":"17899337917344937572.mp4"}
+{"uid":"16491758046125941008","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the white packet into the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the white packet into the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11977865404536210624.mp4"}
+{"uid":"10820014207710099978","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- put pear in the bowl 5- put pear in the bowl 6- put apple in the bowl 7- put pear in the bowl 8- put apple in the bowl 9- put pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- put pear in the bowl 3- put apple in the bowl 4- put pear in the bowl 5- put pear in the bowl 6- put apple in the bowl 7- put pear in the bowl 8- put apple in the bowl 9- put pear in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16618036280295690428.mp4"}
+{"uid":"5917361619708921772","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container 6- Place the white packet into the container Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the jar 2- Place the blue packet into the container 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 jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Put the packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- Place the brown paper into the dustbin 2- Place the coffee cup into the dustbin 3- Place the coffee cup into the dustbin 4- Place the white packet into the container 5- Place the white packet into the container 6- Place the white packet into the container Q: immediate next step? \u003cPRED\u003eA: Put the packet in the jar\n\u003c/PRED\u003e","video":"7742962622564000668.mp4"}
+{"uid":"5703169350230894135","text":"\u003ctask:success:discrete:False\u003e\nPut the tilted glass in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tilted glass in the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tilted glass 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- Place the brown paper into the dustbin Q: immediate next step? \u003cPRED\u003eA: Put the tilted glass in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tilted glass 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- Place the brown paper into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tilted glass in the dustbin 2- Place the coffee cup into the dustbin 3- Place the white packet into the container 4- Place the white packet into the container 5- Place the white packet into the container\n\u003c/PRED\u003e","video":"802687949345279325.mp4"}
+{"uid":"13955894248973085454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6376662158936441901.mp4"}