diff --git "a/json/train/data-00014-of-00160.json" "b/json/train/data-00014-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00014-of-00160.json"
@@ -0,0 +1,309 @@
+{"uid":"8299228892484881113","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":"13586710797103430637.mp4"}
+{"uid":"5226445168483873113","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder 12- Put the black pens in the holder 13- Put the black pens in the holder 14- Put the gray pen backward in the holder 15- Put the black pens in the holder 16- Put the gray pen backward in the holder 17- Put the black pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen in the holder 2- Move the holder back 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder 12- Put the black pens in the holder 13- Put the black pens in the holder 14- Put the gray pen backward in the holder 15- Put the black pens in the holder 16- Put the gray pen backward in the holder 17- Put the black pens in the holder Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the black pen in the holder\n\u003c/PRED\u003e","video":"7639957493368242141.mp4"}
+{"uid":"13693058071747800487","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the gray pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6475886066597372792.mp4"}
+{"uid":"3271966054351145810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo closer to the middle screen cleaning 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":"8563210458651308541.mp4"}
+{"uid":"6553459884527982941","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput marker in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4242341484378944585.mp4"}
+{"uid":"5275251056973139138","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the gray pen backward in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder 12- Put the black pens in the holder 13- Put the black pens in the holder 14- Put the gray pen backward in the holder 15- Put the black pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the gray pen backward in the holder 2- Put the black pens in the holder 3- Put the black pen in the holder 4- Move the holder back 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder 12- Put the black pens in the holder 13- Put the black pens in the holder 14- Put the gray pen backward in the holder 15- Put the black pens in the holder Q: immediate next step? \u003cPRED\u003eA: Put the gray pen backward in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the gray pen backward in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the gray pen backward in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the gray pen backward in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the gray pen backward in the holder\n\u003c/PRED\u003e","video":"4712640649878191191.mp4"}
+{"uid":"14013830960935087410","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky pad in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky pad in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky pad in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray. last 20 steps: 1- put the box in the organizer 2- put the packets in the organizer 3- put the note pad in the organizer 4- put the note pad in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky pad in the organizer 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray. last 20 steps: 1- put the box in the organizer 2- put the packets in the organizer 3- put the note pad in the organizer 4- put the note pad in the organizer Q: immediate next step? \u003cPRED\u003eA: put the sticky pad in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray Q: immediate next step? \u003cPRED\u003eA: put the sticky pad in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky pad in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17013763698259844464.mp4"}
+{"uid":"11353785645515778606","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move the holder backward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the holder backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the holder backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the holder 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 holder backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Move the holder backward\n\u003c/PRED\u003e","video":"13054439741144251478.mp4"}
+{"uid":"5173720673284406392","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the note pad in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray. last 20 steps: 1- put the box in the organizer 2- put the packets in the organizer 3- put the note pad in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the note pad in the organizer 2- put the sticky pad in the organizer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray Q: immediate next step? \u003cPRED\u003eA: put the note pad in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the note pad in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the note pad in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray. last 20 steps: 1- put the box in the organizer 2- put the packets in the organizer 3- put the note pad in the organizer Q: immediate next step? \u003cPRED\u003eA: put the note pad in the organizer\n\u003c/PRED\u003e","video":"1415839551481724153.mp4"}
+{"uid":"9698594375379045633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the spoon stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17016353170388595667.mp4"}
+{"uid":"15411214186791821971","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the gray pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder Q: immediate next step? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the gray pens in the holder 2- Put the gray pen in the holder 3- Put the gray pens in the holder 4- Put the gray pens in the holder 5- Put the gray pens in the holder\n\u003c/PRED\u003e","video":"596839314142901905.mp4"}
+{"uid":"16814959938111300866","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the gray pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the gray pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the gray pens in the holder 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pen in the holder\n\u003c/PRED\u003e","video":"11733440478401435612.mp4"}
+{"uid":"2920200224027701401","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy 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":"9201484883483183955.mp4"}
+{"uid":"9294619001753729023","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the note pad in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the note pad in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10433436444763722284.mp4"}
+{"uid":"10484721325074834171","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the gray pen in the holder 2- Put the gray pen in the holder 3- Put the gray pen in the holder 4- Put the black pens in the holder 5- Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the gray pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the gray pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3739148487355013857.mp4"}
+{"uid":"4166911478177166036","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward Q: immediate next step? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the gray pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the gray pens in the holder 2- Put the gray pens in the holder 3- Put the gray pen in the holder 4- Put the gray pens in the holder 5- Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the gray pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4509586097585762513.mp4"}
+{"uid":"11457777542324201727","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17171442163445187478.mp4"}
+{"uid":"16364551101564925178","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue candy in the right 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":"11769096370207010643.mp4"}
+{"uid":"14904584633221778187","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue pen 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":"9717037876673258122.mp4"}
+{"uid":"106465572386048333","text":"\u003ctask:success:discrete:False\u003e\nput the packets in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packets in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packets in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray. last 20 steps: 1- put the box in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packets in the organizer 2- put the note pad in the organizer 3- put the note pad in the organizer 4- put the sticky pad in the organizer 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray Q: immediate next step? \u003cPRED\u003eA: put the packets in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray. last 20 steps: 1- put the box in the organizer Q: immediate next step? \u003cPRED\u003eA: put the packets in the organizer\n\u003c/PRED\u003e","video":"638426454090557431.mp4"}
+{"uid":"14421103882035427734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack a coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10985119177112114113.mp4"}
+{"uid":"1719250893429813129","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"12777260403978233361.mp4"}
+{"uid":"2535171052495081404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the markers on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3315907434131908699.mp4"}
+{"uid":"5629864843466382943","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray. last 20 steps: 1- put the box in the organizer 2- put the packets in the organizer Q: immediate next step? \u003cPRED\u003eA: put the note pad in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the note pad in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray Q: immediate next step? \u003cPRED\u003eA: put the note pad in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the note pad in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the note pad in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray. last 20 steps: 1- put the box in the organizer 2- put the packets in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the note pad in the organizer 2- put the note pad in the organizer 3- put the sticky pad in the organizer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the note pad in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"807492727235833645.mp4"}
+{"uid":"13646488019105175393","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder 12- Put the black pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pens in the holder 2- Put the gray pen backward in the holder 3- Put the black pens in the holder 4- Put the gray pen backward in the holder 5- Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder 12- Put the black pens in the holder Q: immediate next step? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e","video":"11420003820899326122.mp4"}
+{"uid":"12954561803903964242","text":"\u003ctask:success:discrete:True\u003e\nput the note pad in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the note pad in the organizer\n\u003c/PRED\u003e","video":"7022256105090359066.mp4"}
+{"uid":"926343065574188288","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the box in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the box in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray Q: immediate next step? \u003cPRED\u003eA: put the box in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the box in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the box in the organizer 2- put the packets in the organizer 3- put the note pad in the organizer 4- put the note pad in the organizer 5- put the sticky pad in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the box in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the box in the organizer\n\u003c/PRED\u003e","video":"14930636904661444146.mp4"}
+{"uid":"13015487804139524108","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the gray pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the gray pen in the holder 2- Put the gray pen in the holder 3- Put the black pens in the holder 4- Put the black pens in the holder 5- Put the gray pen backward in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e","video":"13040152978264176731.mp4"}
+{"uid":"517520593348340720","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":"3569592013613716487.mp4"}
+{"uid":"17236931043971896347","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the gray pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16029921399363454575.mp4"}
+{"uid":"7398569149672230604","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the gray pen in the holder 2- Put the black pens in the holder 3- Put the black pens in the holder 4- Put the gray pen backward in the holder 5- Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the gray pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e","video":"13799008376733095001.mp4"}
+{"uid":"6754976974006728038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17070706135202037849.mp4"}
+{"uid":"10480098765205654655","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the gray pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the gray pen in the holder 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pens in the holder 5- Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the gray pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder Q: immediate next step? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e","video":"8473651564457116133.mp4"}
+{"uid":"7544601347686762834","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the holder 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 the holder back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder 12- Put the black pens in the holder 13- Put the black pens in the holder 14- Put the gray pen backward in the holder 15- Put the black pens in the holder 16- Put the gray pen backward in the holder 17- Put the black pens in the holder 18- Put the black pen in the holder Q: immediate next step? \u003cPRED\u003eA: Move the holder back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the holder 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 the holder back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Move the holder back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder 12- Put the black pens in the holder 13- Put the black pens in the holder 14- Put the gray pen backward in the holder 15- Put the black pens in the holder 16- Put the gray pen backward in the holder 17- Put the black pens in the holder 18- Put the black pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move the holder back 2- done\n\u003c/PRED\u003e","video":"17913278178020422599.mp4"}
+{"uid":"10467242619674538784","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candies in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9736433285726551651.mp4"}
+{"uid":"13423753682901043448","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":"9845655228931008300.mp4"}
+{"uid":"9184674150687288981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the hint bottle from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3266327461067714357.mp4"}
+{"uid":"3686453339300368167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"497080475050772023.mp4"}
+{"uid":"8982970119548886517","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sticky pad in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray. last 20 steps: 1- put the box in the organizer 2- put the packets in the organizer 3- put the note pad in the organizer 4- put the note pad in the organizer 5- put the sticky pad in the organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sticky pad in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the paper clips and note pads onto the stationary tray. last 20 steps: 1- put the box in the organizer 2- put the packets in the organizer 3- put the note pad in the organizer 4- put the note pad in the organizer 5- put the sticky pad in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11900908257464166485.mp4"}
+{"uid":"3330569533731828772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the right strainer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"993851408846447016.mp4"}
+{"uid":"1848792896902802219","text":"\u003ctask:success:discrete:False\u003e\nPut the gray pen backward in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the gray pen backward in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder 12- Put the black pens in the holder 13- Put the black pens in the holder Q: immediate next step? \u003cPRED\u003eA: Put the gray pen backward in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the gray pen backward in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the gray pen backward in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder 12- Put the black pens in the holder 13- Put the black pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the gray pen backward in the holder 2- Put the black pens in the holder 3- Put the gray pen backward in the holder 4- Put the black pens in the holder 5- Put the black pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the gray pen backward in the holder\n\u003c/PRED\u003e","video":"12919897670902594457.mp4"}
+{"uid":"17796134264614343518","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the gray pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder Q: immediate next step? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the gray pen in the holder 2- Put the gray pen in the holder 3- Put the gray pen in the holder 4- Put the gray pen in the holder 5- Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the gray pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the gray pen in the holder\n\u003c/PRED\u003e","video":"13810940332935223656.mp4"}
+{"uid":"1045046516799338572","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the gray pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the gray pens in the holder 2- Put the gray pens in the holder 3- Put the gray pen in the holder 4- Put the gray pen in the holder 5- Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder Q: immediate next step? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the gray pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17623155135036000402.mp4"}
+{"uid":"437147178550160907","text":"\u003ctask:success:discrete:False\u003e\nPut the black pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder 12- Put the black pens in the holder 13- Put the black pens in the holder 14- Put the gray pen backward in the holder Q: immediate next step? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder 12- Put the black pens in the holder 13- Put the black pens in the holder 14- Put the gray pen backward in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pens in the holder 2- Put the gray pen backward in the holder 3- Put the black pens in the holder 4- Put the black pen in the holder 5- Move the holder back\n\u003c/PRED\u003e","video":"16532494014556692295.mp4"}
+{"uid":"9793453710372692719","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder Q: immediate next step? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the gray pens in the holder 2- Put the gray pen in the holder 3- Put the gray pen in the holder 4- Put the gray pen in the holder 5- Put the gray pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the gray pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the gray pens in the holder\n\u003c/PRED\u003e","video":"4403092338545624245.mp4"}
+{"uid":"7523532752117461770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace  the wire in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15047725406618113276.mp4"}
+{"uid":"16674852840980945753","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packets in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packets in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18180754027177170423.mp4"}
+{"uid":"11415026379242385014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange a redbull can 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":"7576623595206414951.mp4"}
+{"uid":"8134606506371445882","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the bowl 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":"12220568671565481698.mp4"}
+{"uid":"1653397295076621973","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pens in the holder 2- Put the black pens in the holder 3- Put the gray pen backward in the holder 4- Put the black pens in the holder 5- Put the gray pen backward in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e","video":"4669933229070585043.mp4"}
+{"uid":"7558151976905434983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pip corn 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":"13031800710203604400.mp4"}
+{"uid":"15877976308026829708","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red candy into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13687219497768335164.mp4"}
+{"uid":"1912743516862861726","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14177096394484164569.mp4"}
+{"uid":"4777581683284662003","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder 12- Put the black pens in the holder 13- Put the black pens in the holder 14- Put the gray pen backward in the holder 15- Put the black pens in the holder 16- Put the gray pen backward in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pens in the holder 2- Put the black pen in the holder 3- Move the holder back 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens . last 20 steps: 1- Move the holder backward 2- Put the gray pens in the holder 3- Put the gray pens in the holder 4- Put the gray pen in the holder 5- Put the gray pens in the holder 6- Put the gray pens in the holder 7- Put the gray pens in the holder 8- Put the gray pen in the holder 9- Put the gray pen in the holder 10- Put the gray pen in the holder 11- Put the gray pen in the holder 12- Put the black pens in the holder 13- Put the black pens in the holder 14- Put the gray pen backward in the holder 15- Put the black pens in the holder 16- Put the gray pen backward in the holder Q: immediate next step? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please fill the diapenser on the desk with black pens Q: immediate next step? \u003cPRED\u003eA: Put the black pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18119907644460395935.mp4"}
+{"uid":"10301502645795780436","text":"\u003ctask:success:discrete:True\u003e\ndrop the yellow object into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow object into the plastic basket\n\u003c/PRED\u003e","video":"14553540034655685696.mp4"}
+{"uid":"9977575170319299595","text":"\u003ctask:success:discrete:True\u003e\nopen the top left drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the top left drawer\n\u003c/PRED\u003e","video":"788874670018648461.mp4"}
+{"uid":"14727401232004185488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the notebook on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7199242606419480368.mp4"}
+{"uid":"4873909390960293195","text":"\u003ctask:success:discrete:True\u003e\nMove away from 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: Move away from the basket\n\u003c/PRED\u003e","video":"6274684864048424973.mp4"}
+{"uid":"16294592337167510701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo closer to the left wooden bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6203113882602295004.mp4"}
+{"uid":"7769509141160965004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candies in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11244966839899935739.mp4"}
+{"uid":"13465484512808097584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to 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":"5744977898138622740.mp4"}
+{"uid":"3659536061853598493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Alphabet tile in the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5941165381879734295.mp4"}
+{"uid":"1305000610726978125","text":"\u003ctask:success:discrete:True\u003e\nPick up the green object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the green object\n\u003c/PRED\u003e","video":"14117957905586266844.mp4"}
+{"uid":"1488703860375376054","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object Q: immediate next step? \u003cPRED\u003eA: Drop the orange object in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange object in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the orange object in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange object in the basket 2- drop the yellow object into the plastic basket 3- move away from the plastic basket 4- grab the green object 5- drop the green object into the plastic basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Drop the orange object in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange object 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: Drop the orange object in the basket\n\u003c/PRED\u003e","video":"3434631831451533137.mp4"}
+{"uid":"14021140468599532989","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":"9007928872245978022.mp4"}
+{"uid":"9966473939999243906","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":"12045011209473894777.mp4"}
+{"uid":"13847967662034066041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace brown packet in brown packet section 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":"14029115155554973514.mp4"}
+{"uid":"15425023418392794313","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer Q: immediate next step? \u003cPRED\u003eA: drop the purple object into the plastic basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: drop the purple object into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the purple object into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the purple object into the plastic basket 2- Move your arm away from the basket 3- pick the orange object from the top left drawer 4- Open the drawer 5- Lift the orange object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the purple object into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the purple object into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the purple object into the plastic basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2456654118750564515.mp4"}
+{"uid":"8684839807603027105","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":"11631612613907762530.mp4"}
+{"uid":"15660803892554973739","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow object in the basket 2- move away from the plastic basket 3- grab the green object 4- drop the green object into the plastic basket 5- Move your arm away from the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Place the yellow object in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket Q: immediate next step? \u003cPRED\u003eA: Place the yellow object in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow object in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow object in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow object in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow object 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","video":"13639244199482580486.mp4"}
+{"uid":"3866142267713588612","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm towards the table top\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm towards the table top Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8462540107092905871.mp4"}
+{"uid":"10150520051227579911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet of cinnamon sugar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2348274143039358526.mp4"}
+{"uid":"5351882454171348125","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the green object in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the green object 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: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Drop the green object in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the green object in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the green object in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object Q: immediate next step? \u003cPRED\u003eA: Drop the green object in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the green object in the basket 2- Move your arm away from the basket 3- Close the top left drawer 4- Move away from the drawer 5- done\n\u003c/PRED\u003e","video":"2685845597633153422.mp4"}
+{"uid":"4616345177154987886","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the purple object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the purple object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8780351623500320060.mp4"}
+{"uid":"5396751240552347382","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pull the left most top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npull the left most top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6605225520038309691.mp4"}
+{"uid":"16466356596140255470","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the napkin on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the napkin 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":"12867903923962584935.mp4"}
+{"uid":"8332011586129240377","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table 3- pick up the napkin 4- move near the white board 5- erase the sketch on white board 6- Place the brown paper into the trash bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table 3- pick up the napkin 4- move near the white board 5- erase the sketch on white board 6- Place the brown paper into the trash 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 the brown paper into the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the brown paper into the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17693617854248551572.mp4"}
+{"uid":"1540317592642074940","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the yellow object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the yellow object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7802238349734035736.mp4"}
+{"uid":"17866434458217579682","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange chocolate 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":"314352918395660326.mp4"}
+{"uid":"3354956223149875797","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":"9734945964041717837.mp4"}
+{"uid":"13194040927066194394","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  yellow  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":"16646531215682176717.mp4"}
+{"uid":"13262244242020723950","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":"1040046136337261020.mp4"}
+{"uid":"13196538806107064129","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy  in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8289899669113066577.mp4"}
+{"uid":"334828502761355621","text":"\u003ctask:success:discrete:True\u003e\ngrab the green object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the green object\n\u003c/PRED\u003e","video":"1427167272923059710.mp4"}
+{"uid":"8445434685172322715","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the left most top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the left most top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object 13- drop the green object into the plastic basket Q: next 5 steps? \u003cPRED\u003eA: 1- close the left most top drawer 2- Move away from the drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the left most top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: close the left most top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object 13- drop the green object into the plastic basket Q: immediate next step? \u003cPRED\u003eA: close the left most top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the left most top drawer\n\u003c/PRED\u003e","video":"13052304634296733187.mp4"}
+{"uid":"10420800716596479035","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":"2212400965162537735.mp4"}
+{"uid":"11579657288903554702","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the green object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the green object 2- drop the green object into the plastic basket 3- Move your arm away from the basket 4- Close the top left drawer 5- Move away from the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Move towards the green object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket Q: immediate next step? \u003cPRED\u003eA: Move towards the green object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the green object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the green object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the green object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13841031402702361105.mp4"}
+{"uid":"4176942313763112748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16395948010455367742.mp4"}
+{"uid":"1893895527118114945","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen 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":"10649589006263129574.mp4"}
+{"uid":"15949098925180255013","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a toffee 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":"9933780187111805049.mp4"}
+{"uid":"8842121157573342597","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the left most top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: open the left most top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the left most top drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the left most top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the left most top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the left most top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the left most top drawer\n\u003c/PRED\u003e","video":"12984175158461992000.mp4"}
+{"uid":"9298365915087649845","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green object into the plastic basket 2- Move your arm away from the basket 3- Close the top left drawer 4- Move away from the drawer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green object into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green object into the plastic basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: drop the green object into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green object into the plastic 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 green object into the plastic 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: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object Q: immediate next step? \u003cPRED\u003eA: drop the green object into the plastic basket\n\u003c/PRED\u003e","video":"192589396570399242.mp4"}
+{"uid":"339579956247429764","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the orange object 2- Open the drawer 3- Lift the orange object 4- Drop the orange object in the basket 5- pick up the yellow object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket Q: immediate next step? \u003cPRED\u003eA: Pick up the orange object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the orange object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Pick up the orange object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the orange object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the orange object\n\u003c/PRED\u003e","video":"3190581750966995314.mp4"}
+{"uid":"8194795743709667402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11618380818597969671.mp4"}
+{"uid":"7825820759928526124","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17387552038062297227.mp4"}
+{"uid":"2917381532987125289","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object Q: next 5 steps? \u003cPRED\u003eA: 1- place the purple object into the plastic basket 2- pick the orange object from the top left drawer 3- Open the drawer 4- Lift the orange object 5- Drop the orange object in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: place the purple object into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the purple object into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the purple object into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object Q: immediate next step? \u003cPRED\u003eA: place the purple object into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the purple object into the plastic 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 purple object into the plastic basket\n\u003c/PRED\u003e","video":"11526517777544284555.mp4"}
+{"uid":"15194920981675343719","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork 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":"9826501485537859606.mp4"}
+{"uid":"10457407923175213778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pistachio nut in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"210713734204152340.mp4"}
+{"uid":"17464943515642147154","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":"13395249268407629342.mp4"}
+{"uid":"9561875004362893514","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green object from the top left drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket Q: immediate next step? \u003cPRED\u003eA: pick the green object from the top left drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green object from the top left drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: pick the green object from the top left drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green object from the top left drawer 2- Move your arm away from the basket 3- Close the top left drawer 4- Move away from the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green object from the top left 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\npick the green object from the top left 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":"7812200756638209532.mp4"}
+{"uid":"15606137607059899248","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":"14738181251502233111.mp4"}
+{"uid":"15201152439894528593","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange object into the plastic 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: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: drop the orange object into the plastic basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object Q: immediate next step? \u003cPRED\u003eA: drop the orange object into the plastic basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange object into the plastic basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange object into the plastic basket 2- drop the yellow object into the plastic basket 3- move away from the plastic basket 4- grab the green object 5- drop the green object into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange object into the plastic basket\n\u003c/PRED\u003e","video":"14660380836894922823.mp4"}
+{"uid":"2408004400615949685","text":"\u003ctask:success:discrete:True\u003e\npick the purple object from the top left 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: pick the purple object from the top left drawer\n\u003c/PRED\u003e","video":"16570820672719968109.mp4"}
+{"uid":"17088664849746477344","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngo near the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go near the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- go near the table 2- Place the brown paper on the table 3- pick up the napkin 4- move near the white board 5- erase the sketch on white board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: go near the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo near the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. Q: immediate next step? \u003cPRED\u003eA: go near the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go near the table\n\u003c/PRED\u003e","video":"14922489304302855255.mp4"}
+{"uid":"15562167504432336963","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the top left drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo to the top left 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":"7360052827823157590.mp4"}
+{"uid":"17160336349674106518","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown 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:success:discrete:False\u003e\nPlace the brown 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:planning:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. Q: immediate next step? \u003cPRED\u003eA: Place the brown paper on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table Q: immediate next step? \u003cPRED\u003eA: Place the brown paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown paper on the table 2- pick up the napkin 3- move near the white board 4- erase the sketch on white board 5- put the tissue paper in the dustbin\n\u003c/PRED\u003e","video":"13114420514560615227.mp4"}
+{"uid":"17627854346355964186","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. Q: immediate next step? \u003cPRED\u003eA: Pick the brown paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the brown paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the brown paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the brown paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the brown paper 2- move near the white board 3- erase the sketch on white board 4- put the tissue paper in the dustbin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the brown paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table Q: immediate next step? \u003cPRED\u003eA: Pick the brown paper\n\u003c/PRED\u003e","video":"16273191457467823877.mp4"}
+{"uid":"11179295966584885579","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow object into the plastic basket 2- move away from the plastic basket 3- grab the green object 4- drop the green object into the plastic basket 5- Move your arm away from the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow object into the plastic 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: drop the yellow object into the plastic basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: drop the yellow object into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow object into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object Q: immediate next step? \u003cPRED\u003eA: drop the yellow object into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow object into the plastic basket\n\u003c/PRED\u003e","video":"17983012288802124132.mp4"}
+{"uid":"269458687960219753","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the green object from the top left drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the green object from the top left 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":"17719163569430191116.mp4"}
+{"uid":"17742251480754990521","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Lift the orange object 3- Drop the orange object in the basket 4- pick up the yellow object 5- drop the yellow object into the plastic basket\n\u003c/PRED\u003e","video":"10885387366966361961.mp4"}
+{"uid":"14712995268391468165","text":"\u003ctask:success:discrete:False\u003e\nlift the orange object from the top left drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer Q: immediate next step? \u003cPRED\u003eA: lift the orange object from the top left drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift the orange object from the top left drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: lift the orange object from the top left drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the orange object from the top left drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the orange object from the top left drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- lift the orange object from the top left drawer 2- pick up the yellow object 3- drop the yellow object into the plastic basket 4- move away from the plastic basket 5- grab the green object\n\u003c/PRED\u003e","video":"4237167511124199296.mp4"}
+{"uid":"1481319914446994811","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm away from the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm away from 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":"8132104556368541789.mp4"}
+{"uid":"12957761250293239271","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the plastic basket 2- grab the green object 3- drop the green object into the plastic basket 4- Move your arm away from the basket 5- Close the top left drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: move away from the plastic basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Move away from the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket Q: immediate next step? \u003cPRED\u003eA: Move away from the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from 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: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the basket 2- grab the green object 3- drop the green object into the plastic basket 4- Move your arm away from the basket 5- Close the top left drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket Q: immediate next step? \u003cPRED\u003eA: move away from the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from 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: move away from the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the plastic basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3287486941021470046.mp4"}
+{"uid":"9143833368383085868","text":"\u003ctask:success:discrete:False\u003e\nPick up the green object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the green object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket Q: immediate next step? \u003cPRED\u003eA: Pick up the green object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green object 2- Move your arm away from the basket 3- Close the top left drawer 4- Move away from the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Pick up the green object\n\u003c/PRED\u003e","video":"2103426515786165747.mp4"}
+{"uid":"9377229924740250818","text":"\u003ctask:success:discrete:True\u003e\nOpen the top left drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the top left drawer\n\u003c/PRED\u003e","video":"15373089922887847865.mp4"}
+{"uid":"5338799861417865040","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move near the white board\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove near the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1630604644476820485.mp4"}
+{"uid":"6319222810551465117","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the top left 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: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object 13- drop the green object into the plastic basket 14- Move your arm away from the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Close the top left drawer 2- Move away from the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the top left drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object 13- drop the green object into the plastic basket 14- Move your arm away from the basket Q: immediate next step? \u003cPRED\u003eA: Close the top left drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the top left 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 top left drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Close the top left drawer\n\u003c/PRED\u003e","video":"15433726433107592268.mp4"}
+{"uid":"1966056215264546561","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the yellow object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Grasp the yellow object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the yellow object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the yellow object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the yellow object 2- drop the yellow object into the plastic basket 3- move away from the plastic basket 4- grab the green object 5- drop the green object into the plastic basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket Q: immediate next step? \u003cPRED\u003eA: Grasp the yellow object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the yellow object\n\u003c/PRED\u003e","video":"853716792802894616.mp4"}
+{"uid":"1835293550176873671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"4295759544400110088.mp4"}
+{"uid":"7183519774714227103","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the yellow object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the yellow object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12480174177927667133.mp4"}
+{"uid":"6155038148464471563","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the top left drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the top left drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: open the top left drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the top left drawer 2- Place the purple object in the basket 3- Move your arm away from the basket 4- pick the orange object from the top left drawer 5- Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the top left 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 top left drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the top left drawer\n\u003c/PRED\u003e","video":"4424934186805428229.mp4"}
+{"uid":"12856096577460309660","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":"4398856564341524392.mp4"}
+{"uid":"8783155021351848525","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the purple object into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the purple object into the plastic 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":"177219245447435908.mp4"}
+{"uid":"16699640998661863074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10583604957546015050.mp4"}
+{"uid":"10026531653482264330","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the top left 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: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object 13- drop the green object into the plastic basket Q: immediate next step? \u003cPRED\u003eA: close the top left drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the top left drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object 13- drop the green object into the plastic basket Q: next 5 steps? \u003cPRED\u003eA: 1- close the top left drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: close the top left drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the top left drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the top left 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":"10176139427120169974.mp4"}
+{"uid":"2811550097691183529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14522797746661574238.mp4"}
+{"uid":"4193376891750916255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow peer 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":"13111176164021249664.mp4"}
+{"uid":"17352654683988246971","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11868333064928599656.mp4"}
+{"uid":"11650065060849374511","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the yellow object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the yellow object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the yellow object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: pick up the yellow object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the yellow object 2- drop the yellow object into the plastic basket 3- move away from the plastic basket 4- grab the green object 5- drop the green object into the plastic basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object Q: immediate next step? \u003cPRED\u003eA: pick up the yellow object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the yellow object\n\u003c/PRED\u003e","video":"315135737452973735.mp4"}
+{"uid":"7390824271841964098","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the napkin on the table 2- pick up the napkin 3- move near the white board 4- erase the sketch on white board 5- put the tissue paper in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the napkin on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the napkin 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 napkin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 napkin on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. Q: immediate next step? \u003cPRED\u003eA: place the napkin on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the napkin on the table\n\u003c/PRED\u003e","video":"16575692565832555112.mp4"}
+{"uid":"9248230896036854952","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper clip 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":"8749294963008862120.mp4"}
+{"uid":"12281606478970964554","text":"\u003ctask:success:discrete:True\u003e\ndrop the green object into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the green object into the plastic basket\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the green object in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the green object 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":"2441810217200241976.mp4"}
+{"uid":"8816897707831756128","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the purple object from the top left 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\npick the purple object from the top left 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: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: pick the purple object from the top left drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the purple object from the top left drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick the purple object from the top left drawer 2- Move your arm away from the basket 3- pick the orange object from the top left drawer 4- Open the drawer 5- Lift the orange object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the purple object from the top left drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer Q: immediate next step? \u003cPRED\u003eA: pick the purple object from the top left drawer\n\u003c/PRED\u003e","video":"8537908489133570386.mp4"}
+{"uid":"13037896071171196051","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: erase the sketch on white board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nerase the sketch on white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: erase the sketch on white board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table 3- pick up the napkin 4- move near the white board Q: next 5 steps? \u003cPRED\u003eA: 1- erase the sketch on white board 2- put the tissue paper in the dustbin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nerase the sketch on white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table 3- pick up the napkin 4- move near the white board Q: immediate next step? \u003cPRED\u003eA: erase the sketch on white board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. Q: immediate next step? \u003cPRED\u003eA: erase the sketch on white board\n\u003c/PRED\u003e","video":"2472367073590353125.mp4"}
+{"uid":"3346852584501496360","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the purple object into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the purple object into the plastic 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":"476899657863543757.mp4"}
+{"uid":"17478907624919428712","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9066786972059349101.mp4"}
+{"uid":"12542239720660776198","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the green object into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the green object into the plastic 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":"9646827888997879781.mp4"}
+{"uid":"3396406619135357404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop red pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2431614892649161929.mp4"}
+{"uid":"5390688498846849524","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":"9854405026647346611.mp4"}
+{"uid":"9330261732203164964","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16371929817545917602.mp4"}
+{"uid":"13679306802658942719","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange object into the left most top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange object into the left most top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3932290112454551624.mp4"}
+{"uid":"18278644162121321880","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the yellow object from the top left drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the yellow object from the top left 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":"3013752476930570974.mp4"}
+{"uid":"6312861743836235265","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green object into the plastic basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green object into the plastic basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object Q: immediate next step? \u003cPRED\u003eA: drop the green object into the plastic basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green object into the plastic basket 2- Close the top left drawer 3- Move away from the drawer 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green object into the plastic basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: drop the green object into the plastic basket\n\u003c/PRED\u003e","video":"16202179597135207677.mp4"}
+{"uid":"3647803295199892979","text":"\u003ctask:success:discrete:True\u003e\nPick up the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the orange object\n\u003c/PRED\u003e","video":"16627443719172365201.mp4"}
+{"uid":"5068255758465272862","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object 13- drop the green object into the plastic basket Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm away from the basket 2- Close the top left drawer 3- Move away from the drawer 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm away from the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm away from the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm away from 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: Move your arm away from the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Move your arm away from the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object 13- drop the green object into the plastic basket Q: immediate next step? \u003cPRED\u003eA: Move your arm away from the basket\n\u003c/PRED\u003e","video":"14478130338309920891.mp4"}
+{"uid":"6608971671820687066","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the purple object in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the purple object 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":"415475396123101771.mp4"}
+{"uid":"5981944354986184894","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the top left 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: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket Q: next 5 steps? \u003cPRED\u003eA: 1- go to the top left drawer 2- grab the green object 3- drop the green object into the plastic basket 4- Move your arm away from the basket 5- Close the top left drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: go to the top left drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket Q: immediate next step? \u003cPRED\u003eA: go to the top left drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the top left drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the top left drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the top left drawer\n\u003c/PRED\u003e","video":"2307489532910240481.mp4"}
+{"uid":"15026675318108003075","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a bunch of cups from the stack inside the cup stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8992127309442285531.mp4"}
+{"uid":"1987309960803857136","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":"2855838177438200965.mp4"}
+{"uid":"11011918858992422522","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the purple object 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 purple object in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the purple object in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Place the purple object in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object Q: next 5 steps? \u003cPRED\u003eA: 1- Place the purple object in the basket 2- Move your arm away from the basket 3- pick the orange object from the top left drawer 4- Open the drawer 5- Lift the orange object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object Q: immediate next step? \u003cPRED\u003eA: Place the purple object in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the purple object 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","video":"3733024853431673033.mp4"}
+{"uid":"15043866544730478359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUnstack the 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":"5791249942131799971.mp4"}
+{"uid":"3714060851143056265","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table 3- pick up the napkin 4- move near the white board 5- erase the sketch on white board 6- throw napkin in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table 3- pick up the napkin 4- move near the white board 5- erase the sketch on white board 6- throw napkin in the trash Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow napkin in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw napkin in the trash\n\u003c/PRED\u003e","video":"8384043156764504634.mp4"}
+{"uid":"7694493256638153264","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: drop the yellow object into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow object into the plastic basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow object into the plastic 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: drop the yellow object into the plastic basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow object into the plastic basket 2- grab the green object 3- drop the green object into the plastic basket 4- Move your arm away from the basket 5- Close the top left drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object Q: immediate next step? \u003cPRED\u003eA: drop the yellow object into the plastic basket\n\u003c/PRED\u003e","video":"1563499652839640815.mp4"}
+{"uid":"14024061040765083463","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":"17410677848833468172.mp4"}
+{"uid":"491444449562971747","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table 3- pick up the napkin 4- move near the white board 5- erase the sketch on white board Q: immediate next step? \u003cPRED\u003eA: throw napkin in the trash\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. Q: immediate next step? \u003cPRED\u003eA: throw napkin in the trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table 3- pick up the napkin 4- move near the white board 5- erase the sketch on white board Q: next 5 steps? \u003cPRED\u003eA: 1- throw napkin in the trash 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw napkin in the trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow napkin in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw napkin in the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow napkin in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9723494501435885506.mp4"}
+{"uid":"3494979012770801007","text":"\u003ctask:success:discrete:True\u003e\nPlace the yellow object 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: drop the yellow object into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the yellow object into the plastic 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 yellow object in the basket\n\u003c/PRED\u003e","video":"4713027828884103565.mp4"}
+{"uid":"13436346949365910963","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2201394015575457233.mp4"}
+{"uid":"17161573911958446349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8347543552904199899.mp4"}
+{"uid":"5918126058961393903","text":"\u003ctask:success:discrete:False\u003e\npick the yellow object from the top left 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: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: pick the yellow object from the top left drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket Q: immediate next step? \u003cPRED\u003eA: pick the yellow object from the top left drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow object from the top left drawer 2- move away from the plastic basket 3- grab the green object 4- drop the green object into the plastic basket 5- Move your arm away from the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow object from the top left drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow object from the top left 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: pick the yellow object from the top left drawer\n\u003c/PRED\u003e","video":"881836529824754140.mp4"}
+{"uid":"15391803881674478594","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":"1544576317588533541.mp4"}
+{"uid":"10457138031572058090","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table Q: immediate next step? \u003cPRED\u003eA: move near the white board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move near the white board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove near the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. Q: immediate next step? \u003cPRED\u003eA: move near the white board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move near the white board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove near the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move near the white board 2- erase the sketch on white board 3- put the tissue paper in the dustbin 4- done\n\u003c/PRED\u003e","video":"4351881587713835927.mp4"}
+{"uid":"6197474281850120059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the lid 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":"6092607882508145203.mp4"}
+{"uid":"3531167221273980202","text":"\u003ctask:success:discrete:True\u003e\ngo near the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go near the table\n\u003c/PRED\u003e","video":"17362317135464748625.mp4"}
+{"uid":"7736404193388694568","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: pick the orange object from the top left drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange object from the top left drawer 2- Open the drawer 3- Lift the orange object 4- Drop the orange object in the basket 5- pick up the yellow object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange object from the top left 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\npick the orange object from the top left 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: pick the orange object from the top left drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket Q: immediate next step? \u003cPRED\u003eA: pick the orange object from the top left drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange object from the top left drawer\n\u003c/PRED\u003e","video":"9195747965985734403.mp4"}
+{"uid":"3918032910355463097","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table 3- pick up the napkin 4- move near the white board 5- erase the sketch on white board 6- put the tissue paper in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table 3- pick up the napkin 4- move near the white board 5- erase the sketch on white board 6- 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","video":"15776232564316965060.mp4"}
+{"uid":"5261652185568002079","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: go to the top left drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: go to the top left drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the top left drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the top left drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- go to the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the top left 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\ngo to the top left 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":"6107564974468281679.mp4"}
+{"uid":"15778269737590048688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14751854546069034461.mp4"}
+{"uid":"2950047987165079989","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table 3- pick up the napkin 4- move near the white board 5- erase the sketch on white board Q: immediate next step? \u003cPRED\u003eA: Place the brown paper into the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. Q: immediate next step? \u003cPRED\u003eA: Place the brown paper into the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown paper into the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brown paper into the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table 3- pick up the napkin 4- move near the white board 5- erase the sketch on white board Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown paper into the trash bin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown paper into the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown paper into the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9149289859571228070.mp4"}
+{"uid":"9791433424676049338","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove away from the plastic 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":"1517330673021344083.mp4"}
+{"uid":"464840464782858036","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the top left drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the top left drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the top left 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 top left 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: Open the top left drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Open the top left drawer\n\u003c/PRED\u003e","video":"1333786232049274036.mp4"}
+{"uid":"1006830672412474231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange 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":"12588155161937522705.mp4"}
+{"uid":"3193128911641314894","text":"\u003ctask:success:discrete:True\u003e\nerase the sketch on white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: erase the sketch on white board\n\u003c/PRED\u003e","video":"8805236546732624056.mp4"}
+{"uid":"12408841344915514862","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table Q: immediate next step? \u003cPRED\u003eA: pick the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick 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: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the tissue paper 2- move near the white board 3- erase the sketch on white board 4- put the tissue paper in the dustbin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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 the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. Q: immediate next step? \u003cPRED\u003eA: pick the tissue paper\n\u003c/PRED\u003e","video":"12056774312224359442.mp4"}
+{"uid":"1823001387069531841","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm away from the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm away from the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket Q: immediate next step? \u003cPRED\u003eA: Move your arm away from the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm away from the basket 2- pick the orange object from the top left drawer 3- Open the drawer 4- Lift the orange object 5- Drop the orange object in the basket\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 basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Move your arm away from the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm away from the basket\n\u003c/PRED\u003e","video":"11641672753481306150.mp4"}
+{"uid":"8572941088082170866","text":"\u003ctask:success:discrete:True\u003e\nMove towards the green object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the green object\n\u003c/PRED\u003e","video":"3889870541166303831.mp4"}
+{"uid":"638127571295563876","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16100799378500535032.mp4"}
+{"uid":"11809197744472169103","text":"\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: get a napkin and erase the whiteboard. 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\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table 3- pick up the napkin 4- move near the white board 5- erase the sketch on white board Q: immediate next step? \u003cPRED\u003eA: put the tissue paper in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table 3- pick up the napkin 4- move near the white board 5- erase the sketch on white board Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue paper in the dustbin 2- done\n\u003c/PRED\u003e","video":"1856210612245517201.mp4"}
+{"uid":"15992719703578309250","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the left most top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the left most top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7738793795639546531.mp4"}
+{"uid":"6902881723087038410","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":"3246327833703634520.mp4"}
+{"uid":"2544374663940953847","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange object into the left most top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket Q: immediate next step? \u003cPRED\u003eA: drop the orange object into the left most top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: drop the orange object into the left most top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange object into the left most top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange object into the left most top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange object into the left most top drawer 2- Lift the orange object 3- Drop the orange object in the basket 4- pick up the yellow object 5- drop the yellow object into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange object into the left most top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5886015565529714350.mp4"}
+{"uid":"3177194378147674138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky notes 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":"6352054275215002717.mp4"}
+{"uid":"2259444457212816515","text":"\u003ctask:success:discrete:True\u003e\nPlace the brown 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the brown paper on the table\n\u003c/PRED\u003e","video":"6494558565909577314.mp4"}
+{"uid":"8982886029639386103","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object 13- drop the green object into the plastic basket 14- Move your arm away from the basket 15- Close the top left drawer Q: immediate next step? \u003cPRED\u003eA: Move away from the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object 13- drop the green object into the plastic basket 14- Move your arm away from the basket 15- Close the top left drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Move away from the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from 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":"13966819579472723284.mp4"}
+{"uid":"18061409614761911740","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":"2086746534267222348.mp4"}
+{"uid":"652512922313100811","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white blue 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":"9848936653711630971.mp4"}
+{"uid":"16861021388220461895","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange object into the plastic basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange object into the plastic 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":"16859931825114395489.mp4"}
+{"uid":"16908797270297360320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange 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":"2192212787759500755.mp4"}
+{"uid":"5851215496041002439","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate packet 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":"13366888807599235814.mp4"}
+{"uid":"2154753625099148391","text":"\u003ctask:success:discrete:False\u003e\ngrab the green object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: grab the green object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the green object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the green object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the green object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket Q: immediate next step? \u003cPRED\u003eA: grab the green object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket Q: next 5 steps? \u003cPRED\u003eA: 1- grab the green object 2- drop the green object into the plastic basket 3- Move your arm away from the basket 4- Close the top left drawer 5- Move away from the drawer\n\u003c/PRED\u003e","video":"9417553236404971275.mp4"}
+{"uid":"6552953127486250036","text":"\u003ctask:success:discrete:False\u003e\npull the left most top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the left most top drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer Q: immediate next step? \u003cPRED\u003eA: pull the left most top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the left most top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the left most top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: pull the left most top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pull the left most top drawer 2- Drop the orange object in the basket 3- pick up the yellow object 4- drop the yellow object into the plastic basket 5- move away from the plastic basket\n\u003c/PRED\u003e","video":"37727670244675813.mp4"}
+{"uid":"11680335428570083358","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the napkin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table Q: immediate next step? \u003cPRED\u003eA: pick up the napkin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the napkin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. Q: immediate next step? \u003cPRED\u003eA: pick up the napkin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and erase the whiteboard. last 20 steps: 1- go near the table 2- Place the brown paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the napkin 2- erase the sketch on white board 3- put the tissue paper in the dustbin 4- done\n\u003c/PRED\u003e","video":"8504717316366903410.mp4"}
+{"uid":"6880484703102184850","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":"1146829817390870109.mp4"}
+{"uid":"1307002836121430782","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift the orange object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLift the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"223754929732915117.mp4"}
+{"uid":"12987432982242647924","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange object into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange object into the plastic basket\n\u003c/PRED\u003e","video":"14596198700891891368.mp4"}
+{"uid":"6907796237890003342","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the purple object 2- Place the purple object in the basket 3- Move your arm away from the basket 4- pick the orange object from the top left drawer 5- Open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer Q: immediate next step? \u003cPRED\u003eA: Pick up the purple object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the purple object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the purple object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the purple object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the purple object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Pick up the purple object\n\u003c/PRED\u003e","video":"3568195325608679841.mp4"}
+{"uid":"10920933672997772482","text":"\u003ctask:success:discrete:True\u003e\nClose the top left drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the top left drawer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the left most top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the left most top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"953675589417176835.mp4"}
+{"uid":"3811226776047432927","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: lift the orange object from the top left drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nlift the orange object from the top left 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":"2010313778840154132.mp4"}
+{"uid":"4129933139861613666","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the orange object from the top left drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the orange object from the top left 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":"16369240434973776100.mp4"}
+{"uid":"5115039822995968366","text":"\u003ctask:success:discrete:False\u003e\nLift the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the orange object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the orange object 2- Drop the orange object in the basket 3- pick up the yellow object 4- drop the yellow object into the plastic basket 5- move away from the plastic basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the orange object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer Q: immediate next step? \u003cPRED\u003eA: Lift the orange object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: Lift the orange object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the orange object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7058189982328873132.mp4"}
+{"uid":"17497912956721702288","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the top left drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object 13- drop the green object into the plastic basket 14- close the top left drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the top left drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer 7- Lift the orange object 8- Drop the orange object in the basket 9- pick up the yellow object 10- drop the yellow object into the plastic basket 11- move away from the plastic basket 12- grab the green object 13- drop the green object into the plastic basket 14- close the top left drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7418740081968234390.mp4"}
+{"uid":"5394775326734049154","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange object into the plastic basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange object into the plastic basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor? Q: immediate next step? \u003cPRED\u003eA: drop the orange object into the plastic basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange object into the plastic basket 2- pick up the yellow object 3- drop the yellow object into the plastic basket 4- move away from the plastic basket 5- grab the green object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange object into the plastic basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange object into the plastic basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put the toy boats that is in the top left drawer of the counter, and put them in the plastic bin on the floor?. last 20 steps: 1- Open the top left drawer 2- Pick up the purple object 3- Place the purple object in the basket 4- Move your arm away from the basket 5- pick the orange object from the top left drawer 6- Open the drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange object into the plastic basket\n\u003c/PRED\u003e","video":"16388869925594982107.mp4"}
+{"uid":"7803644964118072571","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":"16724667888846501759.mp4"}
+{"uid":"14098317273725954544","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer Q: immediate next step? \u003cPRED\u003eA: put the two pens into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the two pens into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the two pens into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the two pens into the organizer 2- put the two pen into the organizer 3- put the pen into the organizer 4- put the three pen into the organizer 5- put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the two pens into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the two pens into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the two pens into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15274688125179592738.mp4"}
+{"uid":"1469965578269154698","text":"\u003ctask:success:discrete:True\u003e\nput the two pen into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the two pen into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8807890244684846944.mp4"}
+{"uid":"2252566778737426024","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink marker into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink marker into the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pink marker into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink marker into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink marker into the pen stand 2- put the pens into the organizer 3- move the pens a side 4- move the pen holder towards organizer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink marker into the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pink marker into the pen stand\n\u003c/PRED\u003e","video":"16962371900845805409.mp4"}
+{"uid":"8176739773520807659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chess piece on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10970004004309918413.mp4"}
+{"uid":"5999199494980173020","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput clip in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput clip in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder Q: immediate next step? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put clip in stand 2- put the binder clip into the organizer 3- put the marker into the pen holder 4- put the marker into the pen holder 5- put the marker into the pen holder\n\u003c/PRED\u003e","video":"4113566687982037864.mp4"}
+{"uid":"752499723441232183","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4959058190219395257.mp4"}
+{"uid":"14655077564847238562","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":"7628103198899605127.mp4"}
+{"uid":"1534367120016096195","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer Q: immediate next step? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the clip into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the clip into the organizer 2- put the marker into the pen holder 3- put the marker into the pen holder 4- put the marker into the pen holder 5- put the pens into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer Q: immediate next step? \u003cPRED\u003eA: put the clip into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the clip into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the clip into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the binder clip into the organizer 2- put the marker into the pen holder 3- put the marker into the pen holder 4- put the marker into the pen holder 5- put the pens into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the binder clip into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the clip into the organizer\n\u003c/PRED\u003e","video":"5769085895825540931.mp4"}
+{"uid":"17069964039427466653","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown pen in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put brown pen in stand 2- put the three pen into the organizer 3- put the marker into the pen holder 4- put the binder clip into the organizer 5- put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown pen in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown pen in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put brown pen in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer Q: immediate next step? \u003cPRED\u003eA: put brown pen in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown pen in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10329391637656071436.mp4"}
+{"uid":"13114532369373853242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the seaweed snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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":"5089453740775897028.mp4"}
+{"uid":"10082283271345249502","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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":"14406267010490097593.mp4"}
+{"uid":"4973112929872282228","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the sticky notes into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8890744642149149615.mp4"}
+{"uid":"1982031858571325606","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: place the pen into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand Q: immediate next step? \u003cPRED\u003eA: place the pen into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen into the organizer 2- put the two pens into the organizer 3- put the two pen into the organizer 4- put the pen into the organizer 5- put the three pen into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow candies 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":"17822080302304932844.mp4"}
+{"uid":"14909845064524635397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the wet  wipe packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14983803240129031066.mp4"}
+{"uid":"12105421929137934006","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder 18- put the marker into the pen holder 19- put the pens into the organizer 20- move the pens a side Q: next 5 steps? \u003cPRED\u003eA: 1- move the pen holder towards organizer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the pen holder towards organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the pen holder towards organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder 18- put the marker into the pen holder 19- put the pens into the organizer 20- move the pens a side Q: immediate next step? \u003cPRED\u003eA: move the pen holder towards organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the pen holder towards organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: move the pen holder towards organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the pen holder towards organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2473309266015631270.mp4"}
+{"uid":"11047369304310565040","text":"\u003ctask:success:discrete:False\u003e\nplace the blue marker into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: place the blue marker into the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker into the pen stand 2- put the marker into the pen holder 3- put the pens into the organizer 4- move the pens a side 5- move the pen holder towards organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue marker into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue marker into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the blue marker into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue marker into the pen stand\n\u003c/PRED\u003e","video":"18248243381842004660.mp4"}
+{"uid":"4052174952221839347","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":"10633580951813520126.mp4"}
+{"uid":"1082642675071139350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour popcorn 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":"2905976675781370997.mp4"}
+{"uid":"4878946640058251780","text":"\u003ctask:success:discrete:False\u003e\nplace the sticky notes into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky notes into the organizer 2- place the small sticky notes into the organizer 3- put the sticky notes into the organizer 4- move the organizer a side 5- put the pink marker into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky notes into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: place the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer Q: immediate next step? \u003cPRED\u003eA: place the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky notes into the organizer\n\u003c/PRED\u003e","video":"15654295180975643180.mp4"}
+{"uid":"6894122298143316264","text":"\u003ctask:success:discrete:False\u003e\nmove the organizer a side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 organizer a side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- move the organizer a side 2- put the pink marker into the pen stand 3- place the pen into the organizer 4- put the two pens into the organizer 5- put the two pen into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: move the organizer a side\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer Q: immediate next step? \u003cPRED\u003eA: move the organizer a side\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the organizer a side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the organizer a side\n\u003c/PRED\u003e","video":"9820362445427491612.mp4"}
+{"uid":"8903040378707599834","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put clip in stand 2- put the marker into the pen holder 3- put the marker into the pen holder 4- put the marker into the pen holder 5- put the pens into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer Q: immediate next step? \u003cPRED\u003eA: put clip in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput clip in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4856845058514841847.mp4"}
+{"uid":"3605048406183849738","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the book 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":"13453298527628286908.mp4"}
+{"uid":"15331140910670145533","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":"6053881225520854529.mp4"}
+{"uid":"3094864510830285327","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput green marker in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put green marker in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green marker in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green marker in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green marker in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer Q: immediate next step? \u003cPRED\u003eA: put green marker in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put green marker in holder 2- put the marker into the pen holder 3- put the marker into the pen holder 4- put the pens into the organizer 5- move the pens a side\n\u003c/PRED\u003e","video":"773639805562788383.mp4"}
+{"uid":"1676405255799971503","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker into the pen holder 2- place the pen into the organizer 3- put the two pens into the organizer 4- put the two pen into the organizer 5- put the pen into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side Q: immediate next step? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the marker into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17093522936097255885.mp4"}
+{"uid":"6199049651596796025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up a pen from 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":"4500901291389243120.mp4"}
+{"uid":"6554569162459666228","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer Q: immediate next step? \u003cPRED\u003eA: put the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky notes into the organizer 2- move the organizer a side 3- put the pink marker into the pen stand 4- place the pen into the organizer 5- put the two pens into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky notes into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky notes into the organizer\n\u003c/PRED\u003e","video":"15333281699542020753.mp4"}
+{"uid":"4053522332256284977","text":"\u003ctask:success:discrete:False\u003e\nplace the pens into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: place the pens into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place the pens into the organizer 2- put the two pen into the organizer 3- put the pen into the organizer 4- put the three pen into the organizer 5- put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pens into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pens into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer Q: immediate next step? \u003cPRED\u003eA: place the pens into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pens into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12743301387616309881.mp4"}
+{"uid":"8332422486344214916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace nacho bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8620395925022889146.mp4"}
+{"uid":"10394587241667079168","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink marker in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink marker in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side Q: next 5 steps? \u003cPRED\u003eA: 1- put pink marker in holder 2- place the pen into the organizer 3- put the two pens into the organizer 4- put the two pen into the organizer 5- put the pen into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink marker in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side Q: immediate next step? \u003cPRED\u003eA: put pink marker in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put pink marker in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink marker in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2147139611773686045.mp4"}
+{"uid":"13577258410067287147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15719433358837996173.mp4"}
+{"uid":"10009756258921041448","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the small sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: place the small sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer Q: immediate next step? \u003cPRED\u003eA: place the small sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the small sticky notes into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place the small sticky notes into the organizer 2- put the sticky notes into the organizer 3- move the organizer a side 4- put the pink marker into the pen stand 5- place the pen into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the small sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the small sticky notes into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12227586472075491075.mp4"}
+{"uid":"1968425811302052545","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9856631779613207028.mp4"}
+{"uid":"15476820869783399804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green fruit in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"706617810858869555.mp4"}
+{"uid":"13693335990001518064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange 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":"10215259966832241073.mp4"}
+{"uid":"11460009142429905938","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder Q: immediate next step? \u003cPRED\u003eA: put pink marker in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink marker in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink marker in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put pink marker in holder 2- put the pens into the organizer 3- move the pens a side 4- move the pen holder towards organizer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink marker in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put pink marker in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink marker in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18313417954576328055.mp4"}
+{"uid":"15186847517393928219","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the candies Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16354612463669959229.mp4"}
+{"uid":"3985974357158821533","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer Q: immediate next step? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker into the pen holder 2- put the binder clip into the organizer 3- put the binder clip into the organizer 4- put the marker into the pen holder 5- put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the marker into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4472163018881155472.mp4"}
+{"uid":"1235943126745261523","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pen in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in stand 2- put the two pens into the organizer 3- put the two pen into the organizer 4- put the pen into the organizer 5- put the three pen into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand Q: immediate next step? \u003cPRED\u003eA: put blue pen in stand\n\u003c/PRED\u003e","video":"16955936552387925441.mp4"}
+{"uid":"11825661492967344151","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue marker in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue marker in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue marker in holder 2- put the marker into the pen holder 3- put the pens into the organizer 4- move the pens a side 5- move the pen holder towards organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue marker in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue marker in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue marker in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder Q: immediate next step? \u003cPRED\u003eA: put blue marker in holder\n\u003c/PRED\u003e","video":"13200565790514650228.mp4"}
+{"uid":"1658846640841174303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2657350118433095337.mp4"}
+{"uid":"382525579308162465","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the sanitizer bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8961624811831161584.mp4"}
+{"uid":"1482750130529521147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace brown packet 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":"407727031666334004.mp4"}
+{"uid":"13941426628182046159","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10884715946676777869.mp4"}
+{"uid":"2748082808257357280","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: place the tape into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tape into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tape into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tape into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand Q: immediate next step? \u003cPRED\u003eA: place the tape into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tape into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the tape into the organizer 2- place the sticky notes into the organizer 3- place the small sticky notes into the organizer 4- put the sticky notes into the organizer 5- move the organizer a side\n\u003c/PRED\u003e","video":"9335738772131496784.mp4"}
+{"uid":"1397706396637924677","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow book in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow book in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer Q: immediate next step? \u003cPRED\u003eA: put yellow book in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow book in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put yellow book in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow book in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow book in stand 2- place the small sticky notes into the organizer 3- put the sticky notes into the organizer 4- move the organizer a side 5- put the pink marker into the pen stand\n\u003c/PRED\u003e","video":"13714263544205565667.mp4"}
+{"uid":"11294499341971895264","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put yellow book in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput yellow book in 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:success:discrete:True\u003e\nput the sticky notes into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5038932204971697208.mp4"}
+{"uid":"4363504709045603726","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a blue pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12002088471487270769.mp4"}
+{"uid":"4747205967165255195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the numi tea bag box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10052851627719791199.mp4"}
+{"uid":"8042608313107172243","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white box in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put white box in stand 2- move the organizer a side 3- put the pink marker into the pen stand 4- place the pen into the organizer 5- put the two pens into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white box in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put white box in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white box in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer Q: immediate next step? \u003cPRED\u003eA: put white box in stand\n\u003c/PRED\u003e","video":"2885797793757976238.mp4"}
+{"uid":"10600925348692324972","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pen into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the organizer 2- put the three pen into the organizer 3- put the marker into the pen holder 4- put the binder clip into the organizer 5- put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer Q: immediate next step? \u003cPRED\u003eA: put the pen into the organizer\n\u003c/PRED\u003e","video":"3972937362130339077.mp4"}
+{"uid":"14812571662521388124","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl 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":"18169378616380574788.mp4"}
+{"uid":"9164855643755233532","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pens into the organizer 2- put the pen into the organizer 3- put the three pen into the organizer 4- put the marker into the pen holder 5- put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pens into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer Q: immediate next step? \u003cPRED\u003eA: put the pens into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pens into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pens into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pens into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pens into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14201195130860015088.mp4"}
+{"uid":"17460576100644245380","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"803127662778306892.mp4"}
+{"uid":"17813597488970087388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4718277978607444877.mp4"}
+{"uid":"1665121919879657049","text":"\u003ctask:success:discrete:False\u003e\nput the marker into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer Q: immediate next step? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker into the pen holder 2- put the marker into the pen holder 3- put the marker into the pen holder 4- put the pens into the organizer 5- move the pens a side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e","video":"12258960004846270290.mp4"}
+{"uid":"6310616463962954721","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the small sticky notes into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the small sticky notes into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the small sticky notes into the organizer 2- move the organizer a side 3- put the pink marker into the pen stand 4- place the pen into the organizer 5- put the two pens into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the small sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the small sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer Q: immediate next step? \u003cPRED\u003eA: put the small sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the small sticky notes into the organizer\n\u003c/PRED\u003e","video":"172543219214430072.mp4"}
+{"uid":"8179051587977360393","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the binder clip into the organizer 2- put the binder clip into the organizer 3- put the marker into the pen holder 4- put the marker into the pen holder 5- put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the binder clip into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the binder clip into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the binder clip into the organizer\n\u003c/PRED\u003e","video":"1735841666451084469.mp4"}
+{"uid":"1638556207975545802","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput juice 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":"7835022163277586549.mp4"}
+{"uid":"14075923950525304115","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":"8205622727268187848.mp4"}
+{"uid":"15225349065081504370","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cherries in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10530351292522587427.mp4"}
+{"uid":"2918204421500725845","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer Q: immediate next step? \u003cPRED\u003eA: put pens in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pens in 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 pens in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put pens in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put pens in stand 2- put the two pen into the organizer 3- put the pen into the organizer 4- put the three pen into the organizer 5- put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pens in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pens in stand\n\u003c/PRED\u003e","video":"12333977520463080497.mp4"}
+{"uid":"2991946683892083437","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":"14664183878834795222.mp4"}
+{"uid":"15242530765362504997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet 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":"11312785535224916898.mp4"}
+{"uid":"17335536070967416635","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue box in stand 2- place the sticky notes into the organizer 3- place the small sticky notes into the organizer 4- put the sticky notes into the organizer 5- move the organizer a side\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue box in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue box in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue box in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue box in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue box in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand Q: immediate next step? \u003cPRED\u003eA: put blue box in stand\n\u003c/PRED\u003e","video":"1751580892532713497.mp4"}
+{"uid":"4433368722158793320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7652742494773840194.mp4"}
+{"uid":"4767694032304526357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4832449904669406850.mp4"}
+{"uid":"16601198471843648370","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":"16542303777499228720.mp4"}
+{"uid":"11994403161893690595","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky notes into the organizer 2- place the small sticky notes into the organizer 3- put the sticky notes into the organizer 4- move the organizer a side 5- put the pink marker into the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky notes into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer Q: immediate next step? \u003cPRED\u003eA: put the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky notes into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9171825676135123725.mp4"}
+{"uid":"4124565604862503629","text":"\u003ctask:success:discrete:False\u003e\nput the two pen into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the two pen into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the two pen into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the two pen into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the two pen into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the two pen into the organizer 2- put the pen into the organizer 3- put the three pen into the organizer 4- put the marker into the pen holder 5- put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer Q: immediate next step? \u003cPRED\u003eA: put the two pen into the organizer\n\u003c/PRED\u003e","video":"8754584462883045849.mp4"}
+{"uid":"14621902270506723096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the strainer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"853642779376118050.mp4"}
+{"uid":"15057643247600906582","text":"\u003ctask:success:discrete:False\u003e\nput brown pens in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer Q: immediate next step? \u003cPRED\u003eA: put brown pens in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown pens in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown pens in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put brown pens in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put brown pens in stand 2- put the pen into the organizer 3- put the three pen into the organizer 4- put the marker into the pen holder 5- put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown pens in stand\n\u003c/PRED\u003e","video":"2547838346067639332.mp4"}
+{"uid":"14057650055249504579","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker into the pen holder 2- put the pens into the organizer 3- move the pens a side 4- move the pen holder towards organizer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e","video":"16538014077448012256.mp4"}
+{"uid":"16412426265315435730","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder 18- put the marker into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the two pens into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the two pens into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the two pens into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the two pens into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder 18- put the marker into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the two pens into the organizer 2- move the pen holder towards organizer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the two pens into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the two pens into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15271616003970259113.mp4"}
+{"uid":"7832445706188455845","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo into the hall way Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6154272403800548557.mp4"}
+{"uid":"8872357097227639568","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the silver 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":"10705159574828714185.mp4"}
+{"uid":"7090606563452578788","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pens into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder 18- put the marker into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pens into the organizer 2- move the pens a side 3- move the pen holder towards organizer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder 18- put the marker into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pens into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pens into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pens into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pens into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pens into the organizer\n\u003c/PRED\u003e","video":"4628138576329272738.mp4"}
+{"uid":"17833148706825520361","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the green marker into the pen stand 2- put the binder clip into the organizer 3- put the binder clip into the organizer 4- put the marker into the pen holder 5- put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green marker in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put green marker in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green marker into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer Q: immediate next step? \u003cPRED\u003eA: put green marker in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green marker in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put green marker in holder 2- put the binder clip into the organizer 3- put the binder clip into the organizer 4- put the marker into the pen holder 5- put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green marker into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green marker into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green marker in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the green marker into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green marker in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green marker into the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer Q: immediate next step? \u003cPRED\u003eA: put the green marker into the pen stand\n\u003c/PRED\u003e","video":"6216286150232759319.mp4"}
+{"uid":"17924688408632829681","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":"16478057315232812418.mp4"}
+{"uid":"11700088771118479561","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky notes into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky notes into the organizer 2- put the sticky notes into the organizer 3- move the organizer a side 4- put the pink marker into the pen stand 5- place the pen into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer Q: immediate next step? \u003cPRED\u003eA: put the sticky notes into the organizer\n\u003c/PRED\u003e","video":"7826374446608092734.mp4"}
+{"uid":"16872608387569225840","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen in the middle holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8029870432214611459.mp4"}
+{"uid":"10105261356478379539","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow marker in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put yellow marker in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put yellow marker in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow marker in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow marker in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow marker in holder 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow marker in holder\n\u003c/PRED\u003e","video":"10531011177884328569.mp4"}
+{"uid":"14503556223019393665","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":"17144541874907317116.mp4"}
+{"uid":"16979786710509748884","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pens in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pens in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pens in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer Q: immediate next step? \u003cPRED\u003eA: put blue pens in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pens in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pens in stand 2- put the marker into the pen holder 3- put the binder clip into the organizer 4- put the binder clip into the organizer 5- put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pens in 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":"11448680277423594718.mp4"}
+{"uid":"9079271420559144860","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the clip into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the clip into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the clip into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the clip into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the clip into the organizer 2- put the binder clip into the organizer 3- put the marker into the pen holder 4- put the marker into the pen holder 5- put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the clip into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the clip into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8450847040971164703.mp4"}
+{"uid":"9808301877429678506","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nputting the cashew 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":"11786023169045788362.mp4"}
+{"uid":"368360664320148100","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker into the pen holder 2- put the marker into the pen holder 3- put the pens into the organizer 4- move the pens a side 5- move the pen holder towards organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the marker into the pen holder\n\u003c/PRED\u003e","video":"8550528683111915884.mp4"}
+{"uid":"14709600700355185336","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly move your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14370035352523373037.mp4"}
+{"uid":"10076315352644418292","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer Q: immediate next step? \u003cPRED\u003eA: put white box in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put white box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white box in 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 white box in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white box in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white box in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put white box in stand 2- put the sticky notes into the organizer 3- move the organizer a side 4- put the pink marker into the pen stand 5- place the pen into the organizer\n\u003c/PRED\u003e","video":"5378133665462927860.mp4"}
+{"uid":"3511956414058687764","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10648612091172493726.mp4"}
+{"uid":"6233443818098156495","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the three pen into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the three pen into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the three pen into the organizer 2- put the marker into the pen holder 3- put the binder clip into the organizer 4- put the binder clip into the organizer 5- put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the three pen into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the three pen into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the three pen into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer Q: immediate next step? \u003cPRED\u003eA: put the three pen into the organizer\n\u003c/PRED\u003e","video":"8616192704151814768.mp4"}
+{"uid":"1986277776150107273","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":"14795915028642074072.mp4"}
+{"uid":"9979221597791945463","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green marker into the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the green marker into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green marker into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green marker into the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer Q: immediate next step? \u003cPRED\u003eA: put the green marker into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the green marker into the pen stand 2- put the marker into the pen holder 3- put the marker into the pen holder 4- put the pens into the organizer 5- move the pens a side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green marker into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2320285610181104988.mp4"}
+{"uid":"11445826235446509607","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":"6316438743503531582.mp4"}
+{"uid":"14002670829352648592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork 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":"16001743127665796638.mp4"}
+{"uid":"1220294127222558117","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink marker into the pen stand 2- place the pen into the organizer 3- put the two pens into the organizer 4- put the two pen into the organizer 5- put the pen into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink marker into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side Q: immediate next step? \u003cPRED\u003eA: put the pink marker into the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pink marker into the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink marker into the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink marker into the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink marker into the pen stand\n\u003c/PRED\u003e","video":"8015792996732470324.mp4"}
+{"uid":"11018810640262818691","text":"\u003ctask:success:discrete:False\u003e\nput the pen into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer Q: immediate next step? \u003cPRED\u003eA: put the pen into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the organizer 2- put the three pen into the organizer 3- put the marker into the pen holder 4- put the binder clip into the organizer 5- put the binder clip into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pen into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the organizer\n\u003c/PRED\u003e","video":"13501628271884529572.mp4"}
+{"uid":"7911406017176562593","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the pens a side\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the pens a side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder 18- put the marker into the pen holder 19- put the pens into the organizer Q: immediate next step? \u003cPRED\u003eA: move the pens a side\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: move the pens a side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the pens a side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the pens a side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder 18- put the marker into the pen holder 19- put the pens into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- move the pens a side 2- move the pen holder towards organizer 3- done\n\u003c/PRED\u003e","video":"9779646354942145252.mp4"}
+{"uid":"6396482789949591956","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder 18- put the marker into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pens in stand 2- move the pen holder towards organizer 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer 12- put the three pen into the organizer 13- put the marker into the pen holder 14- put the binder clip into the organizer 15- put the binder clip into the organizer 16- put the marker into the pen holder 17- put the marker into the pen holder 18- put the marker into the pen holder Q: immediate next step? \u003cPRED\u003eA: put blue pens in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put blue pens in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pens in 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 blue pens in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pens in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pens in stand\n\u003c/PRED\u003e","video":"3358142338136996048.mp4"}
+{"uid":"10869105300817499529","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the organizer 2- put the two pens into the organizer 3- put the two pen into the organizer 4- put the pen into the organizer 5- put the three pen into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pen into the organizer\n\u003c/PRED\u003e","video":"4134621159936105709.mp4"}
+{"uid":"6125842001912637633","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":"17709218818651444740.mp4"}
+{"uid":"5144277603653828283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon on left side 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":"2195990298789374477.mp4"}
+{"uid":"10545390084032677528","text":"\u003ctask:success:discrete:False\u003e\nput the invisible tape into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the invisible tape into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the invisible tape into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand Q: immediate next step? \u003cPRED\u003eA: put the invisible tape into the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the invisible tape into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the invisible tape into the organizer 2- place the sticky notes into the organizer 3- place the small sticky notes into the organizer 4- put the sticky notes into the organizer 5- move the organizer a side\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the invisible tape into the organizer\n\u003c/PRED\u003e","video":"14843408537279424154.mp4"}
+{"uid":"15999675605177444531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chess coin in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9812847278865985856.mp4"}
+{"uid":"8900386115146946585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7549615036816710519.mp4"}
+{"uid":"6920093687843388040","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pens into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pens into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pens into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pens into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize supplies into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pens into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer Q: immediate next step? \u003cPRED\u003eA: put the pens into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize supplies into the caddy. last 20 steps: 1- place the yellow marker into the pen stand 2- place the tape into the organizer 3- place the sticky notes into the organizer 4- place the small sticky notes into the organizer 5- put the sticky notes into the organizer 6- move the organizer a side 7- put the pink marker into the pen stand 8- place the pen into the organizer 9- put the two pens into the organizer 10- put the two pen into the organizer 11- put the pen into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pens into the organizer 2- put the marker into the pen holder 3- put the binder clip into the organizer 4- put the binder clip into the organizer 5- put the marker into the pen holder\n\u003c/PRED\u003e","video":"4037274595320650502.mp4"}
+{"uid":"129061325469272008","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace Brown packet inside 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":"3992585306548075682.mp4"}