diff --git "a/json/train/data-00015-of-00160.json" "b/json/train/data-00015-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00015-of-00160.json"
@@ -0,0 +1,1592 @@
+{"uid":"5692589247463926534","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table 4- put banana on the table 5- put orange on the table 6- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- put apple on the table 3- put orange on the table 4- put grapes on the table 5- arrange fruits on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table 4- put banana on the table 5- put orange on the table 6- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"6939450838829902392.mp4"}
+{"uid":"12973675598817927609","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer 5- Place the candy tray in the drawer Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer 5- Place the candy tray in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"17431608788887459875.mp4"}
+{"uid":"14357302804744323268","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: put tray in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table Q: immediate next step? \u003cPRED\u003eA: put tray in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tray in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tray in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tray in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table Q: next 5 steps? \u003cPRED\u003eA: 1- put tray in the drawer 2- Place the candy tray in the drawer 3- Close the drawer 4- done\n\u003c/PRED\u003e","video":"7661778586281903110.mp4"}
+{"uid":"2791119383824557457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17747452026733683958.mp4"}
+{"uid":"284053056036994019","text":"\u003ctask:success:discrete:True\u003e\nPut the right tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the right tray in the drawer\n\u003c/PRED\u003e","video":"17432728508615763043.mp4"}
+{"uid":"8659982435000684437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17794880071545404974.mp4"}
+{"uid":"9296207893624741347","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16001846641176857218.mp4"}
+{"uid":"13292769213759493594","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6382177828249601515.mp4"}
+{"uid":"8598579572812248839","text":"\u003ctask:success:discrete:True\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"8768474106082303037.mp4"}
+{"uid":"9045875770742787462","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tray in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tray in the drawer 2- Close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tray in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tray in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the tray in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: Put the tray in the drawer\n\u003c/PRED\u003e","video":"9063023750476144524.mp4"}
+{"uid":"8920002184528694705","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table 4- put banana on the table 5- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- put orange on the table 3- put apple on the table 4- put orange on the table 5- put grapes on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table 4- put banana on the table 5- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"13063024575834347532.mp4"}
+{"uid":"18445964831996604818","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the potted plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"779600423573866080.mp4"}
+{"uid":"17712500141624698077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2137105176119085463.mp4"}
+{"uid":"4816507543682056962","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the candy tray in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the candy tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8512786802381056174.mp4"}
+{"uid":"15784146932417511302","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet in a jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13031734819521235483.mp4"}
+{"uid":"12820184540170344482","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the sticky note put 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":"203229097974009296.mp4"}
+{"uid":"5221172495871011765","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table 4- put banana on the table 5- put orange on the table 6- put orange on the table 7- put orange on the table 8- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table 4- put banana on the table 5- put orange on the table 6- put orange on the table 7- put orange on the table 8- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- put grapes on the table 3- arrange fruits on the table 4- done\n\u003c/PRED\u003e","video":"17507337382929113379.mp4"}
+{"uid":"16420347628389973463","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tray in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15392358700104318.mp4"}
+{"uid":"1418581636406059538","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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":"4351061397602880759.mp4"}
+{"uid":"6623186243213252589","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer 5- Place the candy tray in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer 5- Place the candy tray in the drawer Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"11182193993341569190.mp4"}
+{"uid":"8719541799759504257","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy tray in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy tray in the drawer 2- Move the tray to edge of the table 3- put tray in the drawer 4- Place the candy tray in the drawer 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy tray in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer Q: immediate next step? \u003cPRED\u003eA: Place the candy tray in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: Place the candy tray in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy tray in the drawer\n\u003c/PRED\u003e","video":"15123638434198043323.mp4"}
+{"uid":"17534835825751750786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1589922672694165032.mp4"}
+{"uid":"10175106585183758765","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6785818256740033462.mp4"}
+{"uid":"6397559812722098516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the pistachios Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12996326876919287079.mp4"}
+{"uid":"11417924488250674246","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput tray in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tray in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tray in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: put tray in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer Q: immediate next step? \u003cPRED\u003eA: put tray in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put tray in the drawer 2- Move the tray to edge of the table 3- put tray in the drawer 4- Place the candy tray in the drawer 5- Close the drawer\n\u003c/PRED\u003e","video":"16090438478573191038.mp4"}
+{"uid":"1213986993947841645","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1676882056970737843.mp4"}
+{"uid":"545295479506215337","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table 4- put banana on the table 5- put orange on the table 6- put orange on the table 7- put orange on the table 8- put apple on the table 9- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table 4- put banana on the table 5- put orange on the table 6- put orange on the table 7- put orange on the table 8- put apple on the table 9- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put grapes on the table 2- arrange fruits on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e","video":"7765179733296206865.mp4"}
+{"uid":"16209235852166298526","text":"\u003ctask:success:discrete:True\u003e\nPut the right tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the right tray in the drawer\n\u003c/PRED\u003e","video":"1012461671340269016.mp4"}
+{"uid":"15996609519219290987","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy tray in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy tray in the drawer 2- Close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: Place the candy tray in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy tray in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer Q: immediate next step? \u003cPRED\u003eA: Place the candy tray in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy tray in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4136076015805443472.mp4"}
+{"uid":"6342947941867972056","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tray in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16350715192034425778.mp4"}
+{"uid":"18002089461083913629","text":"\u003ctask:success:discrete:True\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"1217369035861447731.mp4"}
+{"uid":"14266219327664793906","text":"\u003ctask:success:discrete:True\u003e\nPlace the candy tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the candy tray in the drawer\n\u003c/PRED\u003e","video":"3002939857998164362.mp4"}
+{"uid":"3064119810790673111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the choco ball in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10536856380549342003.mp4"}
+{"uid":"13388302925192728521","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3126549058222350909.mp4"}
+{"uid":"1707737110952311787","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put apple on the table 3- put banana on the table 4- put banana on the table 5- put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"13381866185050613319.mp4"}
+{"uid":"10603594461988986971","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the smart food packet left side in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8550879223723584701.mp4"}
+{"uid":"14738573637079524071","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move the tray to edge of the table 2- put tray in the drawer 3- Place the candy tray in the drawer 4- Close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer Q: immediate next step? \u003cPRED\u003eA: Move the tray to edge of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the tray to edge of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the tray to edge of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the tray to edge of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: Move the tray to edge of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the tray to edge of the table\n\u003c/PRED\u003e","video":"10186652850406510067.mp4"}
+{"uid":"4581326348702863600","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table 4- put banana on the table 5- put orange on the table 6- put orange on the table 7- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put orange on the table 3- put grapes on the table 4- arrange fruits on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table 4- put banana on the table 5- put orange on the table 6- put orange on the table 7- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"12501442967008158852.mp4"}
+{"uid":"10365329829667162376","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table 4- put banana on the table 5- put orange on the table 6- put orange on the table 7- put orange on the table 8- put apple on the table 9- put orange on the table 10- put grapes on the table Q: immediate next step? \u003cPRED\u003eA: arrange fruits on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange fruits on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange fruits on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange fruits on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table 4- put banana on the table 5- put orange on the table 6- put orange on the table 7- put orange on the table 8- put apple on the table 9- put orange on the table 10- put grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange fruits on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange fruits on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: arrange fruits on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put grapes on the table\n\u003c/PRED\u003e","video":"12865774839841742944.mp4"}
+{"uid":"9823470289702122997","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":"9631469661753646232.mp4"}
+{"uid":"9094637100483570951","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer 5- Place the candy tray in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"852145413247953424.mp4"}
+{"uid":"3674793461195378987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9292323759738846602.mp4"}
+{"uid":"1745653748128432008","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put banana on the table 3- put banana on the table 4- put orange on the table 5- put orange on the table\n\u003c/PRED\u003e","video":"6580393917519727952.mp4"}
+{"uid":"14209812223488510527","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":"144288385417638239.mp4"}
+{"uid":"11728499220375739515","text":"\u003ctask:success:discrete:True\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"5374442578966911562.mp4"}
+{"uid":"3640257162297232945","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11722956288203132026.mp4"}
+{"uid":"1559571880754552287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7694752467397546383.mp4"}
+{"uid":"10561787860772748697","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer 5- Place the candy tray in the drawer 6- close drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer 5- Place the candy tray in the drawer 6- close drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose 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":"9330604471147478690.mp4"}
+{"uid":"16846026507600558010","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":"17147795925953117618.mp4"}
+{"uid":"9926380955767209211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2977011794202535721.mp4"}
+{"uid":"15066099179421686097","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- put banana on the table 3- put orange on the table 4- put orange on the table 5- put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"17333466994915722438.mp4"}
+{"uid":"1663778588592374485","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black 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":"8088419701682440888.mp4"}
+{"uid":"16427464741028747250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9984541136154263303.mp4"}
+{"uid":"15350363444724016183","text":"\u003ctask:success:discrete:True\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"10910831781661643822.mp4"}
+{"uid":"12275869491647503524","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tray in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tray in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tray in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put tray in the drawer 2- Close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer Q: immediate next step? \u003cPRED\u003eA: put tray in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: put tray in the drawer\n\u003c/PRED\u003e","video":"5434057938063886627.mp4"}
+{"uid":"15339936438462602388","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the right tray in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the right tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the right tray in the drawer 2- Place the candy tray in the drawer 3- Close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table Q: immediate next step? \u003cPRED\u003eA: Put the right tray in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the right tray in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: Put the right tray in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the right tray in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10508923581964453490.mp4"}
+{"uid":"14716818704240922480","text":"\u003ctask:success:discrete:True\u003e\nPut the tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tray in the drawer\n\u003c/PRED\u003e","video":"6088726781899233921.mp4"}
+{"uid":"10309211574352082655","text":"\u003ctask:success:discrete:False\u003e\nPut the right tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the right tray in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the right tray in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: Put the right tray in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the right tray in the drawer 2- Move the tray to edge of the table 3- put tray in the drawer 4- Place the candy tray in the drawer 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer Q: immediate next step? \u003cPRED\u003eA: Put the right tray in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the right tray in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3960747590845167209.mp4"}
+{"uid":"15688994483752433672","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer 5- Place the candy tray in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"10381947943381207411.mp4"}
+{"uid":"11226837982358155021","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer 5- Place the candy tray in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close drawer 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose 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: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer 5- Place the candy tray in the drawer Q: immediate next step? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e","video":"15087799559847963551.mp4"}
+{"uid":"8679822300430542841","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the tray to edge of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the tray to edge of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15974002026091684965.mp4"}
+{"uid":"10018720341242990551","text":"\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- put orange on the table 3- put orange on the table 4- put orange on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"3988650888933029147.mp4"}
+{"uid":"3584917480769829173","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tray in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7326578360716699981.mp4"}
+{"uid":"10093214527518753365","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen 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":"9609902636564708485.mp4"}
+{"uid":"8301297913404542500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2711185473505179942.mp4"}
+{"uid":"5910997085262588508","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table Q: immediate next step? \u003cPRED\u003eA: Place the candy tray in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy tray in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: Place the candy tray in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy tray in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy tray in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy tray in the drawer 2- Place the candy tray in the drawer 3- Close the drawer 4- done\n\u003c/PRED\u003e","video":"3067491139805567427.mp4"}
+{"uid":"141246627021310734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11280564595589717896.mp4"}
+{"uid":"7238042982875689524","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer Q: immediate next step? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the three trays of candy into the top left drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open drawer 2- Place the candy tray in the drawer 3- Move the tray to edge of the table 4- put tray in the drawer 5- Place the candy tray in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen 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: place the three trays of candy into the top left drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e","video":"3290013537593931012.mp4"}
+{"uid":"3401874674070893468","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3929983692462498835.mp4"}
+{"uid":"3348190032993627195","text":"\u003ctask:success:discrete:True\u003e\nPlace the candy tray in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the candy tray in the drawer\n\u003c/PRED\u003e","video":"7827682980837762313.mp4"}
+{"uid":"15573565481124147558","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table 4- put banana on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put banana on the table 4- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- put orange on the table 3- put orange on the table 4- put apple on the table 5- put orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"5052597956948347737.mp4"}
+{"uid":"2964395589864452587","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packets in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packets in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e","video":"10506088941656847079.mp4"}
+{"uid":"4929109558183511086","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5698556578845757102.mp4"}
+{"uid":"10632252318621622713","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":"17861068181006522296.mp4"}
+{"uid":"16829241786194048592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet on the counter from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10074657797889929728.mp4"}
+{"uid":"2037800120701372246","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pin in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6903780121830162911.mp4"}
+{"uid":"2757894667062281831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace glass on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16066135391448695759.mp4"}
+{"uid":"7921195980049448480","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packets in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e","video":"2104932103533255726.mp4"}
+{"uid":"15211999046576799252","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"5395125996600372461.mp4"}
+{"uid":"5741941474165951778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8799166007760930194.mp4"}
+{"uid":"7687043023283271574","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packets in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e","video":"18318175056111742610.mp4"}
+{"uid":"4965425723570666577","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7703413278319950818.mp4"}
+{"uid":"9473230818327963707","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper glass bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1360097856371762526.mp4"}
+{"uid":"13716459206081915839","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packets in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e","video":"7641895202642580218.mp4"}
+{"uid":"2241744510329253628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7372560928483341885.mp4"}
+{"uid":"5249473072849005659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown sachets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8414547022755653963.mp4"}
+{"uid":"4437332260737696064","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packets in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"17589341368846983686.mp4"}
+{"uid":"6275576988315266937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9678750864277848252.mp4"}
+{"uid":"13663176513748522391","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14444180172357871406.mp4"}
+{"uid":"639939526090875563","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"6648411669637256963.mp4"}
+{"uid":"18017229758038778641","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packets in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e","video":"17187166855248019057.mp4"}
+{"uid":"10120439198030590688","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box 15- place packet in the cotton box 16- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box 15- place packet in the cotton box 16- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17654535399974503719.mp4"}
+{"uid":"13436075755623678053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9032618899574692586.mp4"}
+{"uid":"7469308160737378428","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the toy carrot 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":"15526881768587773450.mp4"}
+{"uid":"9808228518938851921","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packets in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16655888748102362568.mp4"}
+{"uid":"18130634216890491118","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"1147755607364518318.mp4"}
+{"uid":"14379398580745058459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the smart 50 packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8208925791034244363.mp4"}
+{"uid":"1353430076342653220","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16388525124974018954.mp4"}
+{"uid":"14793699893435796442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nthrow the waste 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":"10626812101750438035.mp4"}
+{"uid":"10120451461501814845","text":"\u003ctask:success:discrete:True\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e","video":"15880790529020421014.mp4"}
+{"uid":"16215402109897208271","text":"\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"15140820000365112220.mp4"}
+{"uid":"13246219279985698551","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e","video":"17605413048771130058.mp4"}
+{"uid":"11057556110825921774","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10333609764350318714.mp4"}
+{"uid":"5157167763420979762","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- place packet in the cotton box 3- place packet in the cotton box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e","video":"8067468635157129394.mp4"}
+{"uid":"4002526482370584366","text":"\u003ctask:success:discrete:True\u003e\nput packets in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e","video":"9522432194702597091.mp4"}
+{"uid":"6482270471916126812","text":"\u003ctask:success:discrete:False\u003e\nput white packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- place packet in the cotton box 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e","video":"12973493135773796005.mp4"}
+{"uid":"15969200799076860489","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace two white packet in white packet section in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2363778505161546995.mp4"}
+{"uid":"8050868855918906854","text":"\u003ctask:success:discrete:False\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packets in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e","video":"10108637122630230989.mp4"}
+{"uid":"9839410596812876953","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packets in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e","video":"10888780298099742163.mp4"}
+{"uid":"2099154614053180877","text":"\u003ctask:success:discrete:False\u003e\nput packets in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e","video":"16436557841746486450.mp4"}
+{"uid":"5322285133791101596","text":"\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"2485850045920197534.mp4"}
+{"uid":"4076452254654770715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2556033406138566941.mp4"}
+{"uid":"17201643510591745356","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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":"1111366072341648117.mp4"}
+{"uid":"15876360570530578109","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16509350732943312851.mp4"}
+{"uid":"5175379854529109307","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cinnamon sugar packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14750210139809050778.mp4"}
+{"uid":"11851501227430257650","text":"\u003ctask:success:discrete:False\u003e\nput packets in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packets in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e","video":"17253116692601857130.mp4"}
+{"uid":"10590681230088563015","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e","video":"749136085474605214.mp4"}
+{"uid":"12822817047116001262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue chip bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1716571355178246080.mp4"}
+{"uid":"1461819800895809339","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- place packet in the cotton box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9413328733334769347.mp4"}
+{"uid":"2825944127725143958","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"5706651670979099386.mp4"}
+{"uid":"13037732017573156364","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4312853829057929832.mp4"}
+{"uid":"15265300516699630129","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut white packet inbasket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"976786131113437211.mp4"}
+{"uid":"6784031615077785813","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the chair towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13403322845405233146.mp4"}
+{"uid":"9008109747616443838","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate stone 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":"9629256921685689299.mp4"}
+{"uid":"5753309416128745782","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":"3606633787689206372.mp4"}
+{"uid":"10465809995164889356","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9726075812785305874.mp4"}
+{"uid":"17867581394110346976","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packets in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e","video":"3829762310572347549.mp4"}
+{"uid":"17161637031137437131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3770095121030232852.mp4"}
+{"uid":"502854221811212638","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e","video":"11170480250752808088.mp4"}
+{"uid":"5861563741319027735","text":"\u003ctask:success:discrete:False\u003e\nput white packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e","video":"7139159266352142777.mp4"}
+{"uid":"8714862790705027464","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box 15- place packet in the cotton box 16- put white packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box 15- place packet in the cotton box 16- put white packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e","video":"2285866963259867270.mp4"}
+{"uid":"15792800845897302747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the snacks packet on top of the existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6214775292865612110.mp4"}
+{"uid":"15895034616731617677","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange into 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":"10084745103081080607.mp4"}
+{"uid":"781610174180620877","text":"\u003ctask:success:discrete:False\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packets in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"17338721127655258443.mp4"}
+{"uid":"7428401699710139070","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packets in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- done\n\u003c/PRED\u003e","video":"11438878859204327311.mp4"}
+{"uid":"8972870277966037953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink packets on 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":"17905150348937995924.mp4"}
+{"uid":"5318578496424502376","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15264428405247713083.mp4"}
+{"uid":"3599595033311604608","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5202451487814025575.mp4"}
+{"uid":"12407620376465323666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13641394612836168508.mp4"}
+{"uid":"12608720926461961756","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box 15- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box 15- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- done\n\u003c/PRED\u003e","video":"14009063282583757077.mp4"}
+{"uid":"7120070611837633027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the tray in the left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14235263561137983632.mp4"}
+{"uid":"9086665385047192220","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":"11250902798598218463.mp4"}
+{"uid":"6673448089104120695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the blue marker from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4002209450747631980.mp4"}
+{"uid":"15767868520781345246","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5377377715597078155.mp4"}
+{"uid":"2848849100567802163","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5171725372698509669.mp4"}
+{"uid":"5138426242969431807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange 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":"2952021120997336699.mp4"}
+{"uid":"9400307717617376422","text":"\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"15029499613852121364.mp4"}
+{"uid":"18313986109367055665","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"2213297411778425543.mp4"}
+{"uid":"9253604754065777983","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":"5973963362083562214.mp4"}
+{"uid":"8057907433799034261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12276289555884598289.mp4"}
+{"uid":"14484959905954589610","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box 15- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box 15- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9612701168673059573.mp4"}
+{"uid":"15873144307253315950","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e","video":"729238440629300184.mp4"}
+{"uid":"8745349326650501665","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolates 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":"12819649278878679552.mp4"}
+{"uid":"10309225212838065210","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13349822458312855590.mp4"}
+{"uid":"15937461067302670351","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10173579684047620348.mp4"}
+{"uid":"3808106450690223160","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packet in the cotton box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"1332620846548919719.mp4"}
+{"uid":"3771845595513586177","text":"\u003ctask:success:discrete:False\u003e\nput packets in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e","video":"17630235487154197508.mp4"}
+{"uid":"6390869222592193823","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15989326570159403562.mp4"}
+{"uid":"17657258831443091338","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e","video":"4491183506491180503.mp4"}
+{"uid":"13102333996742475844","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packets in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"10621413668809436560.mp4"}
+{"uid":"11706815738416328951","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the sanitizer  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":"12104237412684647473.mp4"}
+{"uid":"3643677496335828942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5400291721921608530.mp4"}
+{"uid":"14122241921639495865","text":"\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"16473345076149445619.mp4"}
+{"uid":"9913636310665807935","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6080394748477857414.mp4"}
+{"uid":"10620654421760517917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14053542154247165962.mp4"}
+{"uid":"8201588730133602020","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packets in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"16801887256494082730.mp4"}
+{"uid":"13294682219096671859","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e","video":"7715198804656226723.mp4"}
+{"uid":"16225690238190496470","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packets in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"14398250370499603561.mp4"}
+{"uid":"4025189116742049384","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packets in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e","video":"11428572147340522981.mp4"}
+{"uid":"7395859909536169588","text":"\u003ctask:success:discrete:False\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e","video":"11285947063297084206.mp4"}
+{"uid":"15583295928154821774","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packets in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packets in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packets in box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packets in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packets in box\n\u003c/PRED\u003e","video":"3675724158094771859.mp4"}
+{"uid":"17417461419533902958","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box 15- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box 14- place packet in the cotton box 15- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5336555274807473681.mp4"}
+{"uid":"18133077239074740193","text":"\u003ctask:success:discrete:False\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13830813496844322986.mp4"}
+{"uid":"13929843748926829905","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace  two pink packet in pink packet section in rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1980628732259750232.mp4"}
+{"uid":"16462591963201599753","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11766192307371122608.mp4"}
+{"uid":"15436983833034323970","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- place packet in the cotton box 3- place packet in the cotton box 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packets in the cotton box 10- place packets in the cotton box 11- place packets in the cotton box 12- place packets in the cotton box 13- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"5105712425933974829.mp4"}
+{"uid":"14903003867673647701","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packets in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"18360948273054131238.mp4"}
+{"uid":"13192341124932204341","text":"\u003ctask:success:discrete:True\u003e\nPut the white packets in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white packets in basket\n\u003c/PRED\u003e","video":"434476081799325288.mp4"}
+{"uid":"16385806584879668061","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in basket 2- Put white packet inbasket 3- put the white packet in basket 4- Put the suger candy in basket 5- Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e","video":"10834869759842752300.mp4"}
+{"uid":"14495087892464533300","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the white packet in 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":"17614226382230457237.mp4"}
+{"uid":"9888033489795035190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the black cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18383139631954916456.mp4"}
+{"uid":"2286114023531398003","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packets in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packets in 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the white packets in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket 11- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packets in basket 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket 11- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: Put the white packets in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packets in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packets in basket\n\u003c/PRED\u003e","video":"10490590117108781890.mp4"}
+{"uid":"2494435299520484752","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11232283231994262916.mp4"}
+{"uid":"6683376630587853156","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put two packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket Q: immediate next step? \u003cPRED\u003eA: put two packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput two packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put two packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put two packets in the tray 2- Put pink sugar packets in the organiser 3- Put the white packet in basket 4- Put the white packet in basket 5- Put white packet inbasket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput two packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16261070152016257096.mp4"}
+{"uid":"2589820856845953827","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black keyboard on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12126670422948642464.mp4"}
+{"uid":"11558641483903524016","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pink sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket Q: next 5 steps? \u003cPRED\u003eA: 1- Put pink sugar packet in the organiser 2- Put the suger candy in basket 3- Put the white packet in basket 4- Put the white packets in basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pink sugar packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pink sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put pink sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket Q: immediate next step? \u003cPRED\u003eA: Put pink sugar packet in the organiser\n\u003c/PRED\u003e","video":"6837090658179930116.mp4"}
+{"uid":"7485628903019403495","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put pink sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut pink sugar packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6241335600642908997.mp4"}
+{"uid":"16273426440008486770","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- Put white packet inbasket 3- put the white packet in basket 4- Put the suger candy in basket 5- Put the suger candy in basket\n\u003c/PRED\u003e","video":"4366255762309132157.mp4"}
+{"uid":"789966963403651978","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the white packet in 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":"9356037423963971281.mp4"}
+{"uid":"3560060962748061605","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put pink sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: Put pink sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pink sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pink sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put pink sugar packet in the organiser 2- Put white packet inbasket 3- put the white packet in basket 4- Put the suger candy in basket 5- Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut pink sugar packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pink sugar packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6285011649172516809.mp4"}
+{"uid":"16774405919523030269","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket Q: immediate next step? \u003cPRED\u003eA: Put sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut sugar packets in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put sugar packets in the organiser 2- Put pink sugar packets in the organiser 3- Put the white packet in basket 4- Put the white packet in basket 5- Put white packet inbasket\n\u003c/PRED\u003e","video":"12857137437292073029.mp4"}
+{"uid":"555806249726346709","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4563558394470646277.mp4"}
+{"uid":"10527178100482015623","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket 11- Put the white packet in basket 12- Put the white packets in basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the white packets in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket 11- Put the white packet in basket 12- Put the white packets in basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white packets in basket\n\u003c/PRED\u003e","video":"16148176841687442860.mp4"}
+{"uid":"11487657418885704732","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packets in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packets in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packets in 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the white packets in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket Q: immediate next step? \u003cPRED\u003eA: Put the white packets in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packets in 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: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packets in basket 2- Put pink sugar packets in the organiser 3- Put the white packet in basket 4- Put the white packet in basket 5- Put white packet inbasket\n\u003c/PRED\u003e","video":"298181111202302011.mp4"}
+{"uid":"904217988020680397","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput two packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put two packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput two packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket 11- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put two packets in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put two packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket 11- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: put two packets in the tray\n\u003c/PRED\u003e","video":"5097096169223557192.mp4"}
+{"uid":"12801937616033695231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTouch the bottom black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3260539670705597432.mp4"}
+{"uid":"13641412537882428712","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the white packet in basket 3- Put the suger candy in basket 4- Put the suger candy in basket 5- Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11143753706175501996.mp4"}
+{"uid":"6820947534602049997","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in basket 2- Put the suger candy in basket 3- Put the suger candy in basket 4- Put the white packet in basket 5- Put the white packets in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket Q: immediate next step? \u003cPRED\u003eA: put the white packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in 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":"343950834287522879.mp4"}
+{"uid":"251846779369151345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the adapter on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4772581825540546242.mp4"}
+{"uid":"17443544756113068187","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- Put the white packets in basket 3- done\n\u003c/PRED\u003e","video":"8212103787490608228.mp4"}
+{"uid":"7590554684617399993","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in 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: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in basket 2- Put the white packet in basket 3- Put the white packet in basket 4- Put white packet inbasket 5- put the white packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet in 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket Q: immediate next step? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e","video":"8525912924645879920.mp4"}
+{"uid":"324261494809245850","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red pen in cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4365216205446213602.mp4"}
+{"uid":"8038845212812132551","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white sugar packet in the organiser 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white sugar packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket Q: immediate next step? \u003cPRED\u003eA: Put the white sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white sugar packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the white sugar packet in the organiser\n\u003c/PRED\u003e","video":"11706256844183074680.mp4"}
+{"uid":"14648184341396910880","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":"1723276547268972183.mp4"}
+{"uid":"13761025539692198631","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14720021607931872434.mp4"}
+{"uid":"4999414069404754526","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket 11- Put the white packet in basket 12- Put two white sugar packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put two white sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut two white sugar packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket 11- Put the white packet in basket 12- Put two white sugar packet in the organiser Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1199326658364396236.mp4"}
+{"uid":"13997201774592441682","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in basket 2- Put the white packets in basket 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket Q: immediate next step? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white packet in 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e","video":"2354713607323385591.mp4"}
+{"uid":"6270624788345274013","text":"\u003ctask:success:discrete:True\u003e\nPut white packet inbasket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put white packet inbasket\n\u003c/PRED\u003e","video":"6077781945654474503.mp4"}
+{"uid":"13411874738579310965","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the suger candy in basket 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the suger candy in 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: Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the suger candy in 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the suger candy in basket\n\u003c/PRED\u003e","video":"12223453411873937714.mp4"}
+{"uid":"9889518662999765353","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put pink sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pink sugar packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pink sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pink sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut pink sugar packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put pink sugar packet in the organiser 2- put the white packet in basket 3- Put the suger candy in basket 4- Put the suger candy in basket 5- Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: Put pink sugar packet in the organiser\n\u003c/PRED\u003e","video":"5268383747312851291.mp4"}
+{"uid":"2601599485581105611","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in 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":"7209487168695752479.mp4"}
+{"uid":"16606673420627802929","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- Put the white packets in basket 3- Put pink sugar packets in the organiser 4- Put the white packet in basket 5- Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"16212508138017239512.mp4"}
+{"uid":"2883276284327136806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky note 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":"10300362692547041590.mp4"}
+{"uid":"13715230149202823999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15774848954843160416.mp4"}
+{"uid":"4485778984945512866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"895947998241403647.mp4"}
+{"uid":"3071666483370632195","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- Put the white packet in basket 3- Put the white packet in basket 4- Put white packet inbasket 5- put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"11384109720874767789.mp4"}
+{"uid":"18172040085148872621","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket 11- Put the white sugar packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the white sugar packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket 11- Put the white sugar packet in the organiser Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8612065617933644586.mp4"}
+{"uid":"11813073573091351383","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in basket 2- Put the white packet in basket 3- Put white packet inbasket 4- put the white packet in basket 5- Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet in 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser Q: immediate next step? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e","video":"15009703320974450856.mp4"}
+{"uid":"802010876591796119","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- Put the white packet in basket 3- Put white packet inbasket 4- put the white packet in basket 5- Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"15859218794325506655.mp4"}
+{"uid":"1913066659481483032","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- Put sugar packets in the organiser 2- Put pink sugar packets in the organiser 3- Put the white packet in basket 4- Put the white packet in basket 5- Put white packet inbasket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser Q: immediate next step? \u003cPRED\u003eA: Put sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut sugar packets in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8639541935160779249.mp4"}
+{"uid":"11458071708958088671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the stack of glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18097969988851646652.mp4"}
+{"uid":"10663595591476349199","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put pink sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pink sugar packets in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- Put pink sugar packets in the organiser 2- Put the white packet in basket 3- Put white packet inbasket 4- put the white packet in basket 5- Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser Q: immediate next step? \u003cPRED\u003eA: Put pink sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pink sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pink sugar packets in the organiser\n\u003c/PRED\u003e","video":"8386864839391423673.mp4"}
+{"uid":"8882115100171827442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7347250466196548730.mp4"}
+{"uid":"2866259181621945259","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1734127973969453908.mp4"}
+{"uid":"197411340899024108","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- Put the suger candy in basket 3- Put the suger candy in basket 4- Put the white packet in basket 5- Put the white packets in basket\n\u003c/PRED\u003e","video":"4308379455391854518.mp4"}
+{"uid":"8907777360135970428","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser Q: immediate next step? \u003cPRED\u003eA: Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- Put the suger candy in basket 2- Put the white packets in basket 3- Put pink sugar packets in the organiser 4- Put the white packet in basket 5- Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the suger candy in 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: Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the suger candy in basket\n\u003c/PRED\u003e","video":"18315725179982747948.mp4"}
+{"uid":"14781196286724532563","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6026864552711831852.mp4"}
+{"uid":"17992728951975009828","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the brown sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: Put the brown sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown sugar packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown sugar packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown sugar packet in the organiser 2- Put the suger candy in basket 3- Put the white packet in basket 4- Put the white packets in basket 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown sugar packet in the organiser\n\u003c/PRED\u003e","video":"920770034478765004.mp4"}
+{"uid":"3337104722056310488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1366329822587766100.mp4"}
+{"uid":"14995658731367283110","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put white packet inbasket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut white packet inbasket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: Put white packet inbasket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put white packet inbasket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put white packet inbasket 2- put the white packet in basket 3- Put the suger candy in basket 4- Put the suger candy in basket 5- Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut white packet inbasket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put white packet inbasket\n\u003c/PRED\u003e","video":"14141972892480543779.mp4"}
+{"uid":"12493038871297525760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14866995516761042952.mp4"}
+{"uid":"843963416838188840","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- Put the suger candy in basket 3- Put the white packet in basket 4- Put the white packets in basket 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"17808719044821732394.mp4"}
+{"uid":"15265884866390533146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the paper glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7172851952422356406.mp4"}
+{"uid":"1656218559856209097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass on existing glass stack 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":"4937603709126996896.mp4"}
+{"uid":"16999335042783185344","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pink sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pink sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put pink sugar packets in the organiser 2- Put the white packet in basket 3- Put the white packet in basket 4- Put white packet inbasket 5- put the white packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket Q: immediate next step? \u003cPRED\u003eA: Put pink sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut pink sugar packets in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pink sugar packets in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put pink sugar packets in the organiser\n\u003c/PRED\u003e","video":"14144182964726005147.mp4"}
+{"uid":"5545506674577162423","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket Q: immediate next step? \u003cPRED\u003eA: Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the suger candy in basket 2- Put the white packet in basket 3- Put the white packets in basket 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the suger candy in 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":"18141292900831378067.mp4"}
+{"uid":"7087915147402141195","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put pink sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut pink sugar packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15686847698325538730.mp4"}
+{"uid":"9976723876406610269","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5588797401533539549.mp4"}
+{"uid":"3010237999831637927","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- Put the white packet in basket 3- Put the white packets in basket 4- done\n\u003c/PRED\u003e","video":"7280557353554454920.mp4"}
+{"uid":"1991873185595116618","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace green packet in green packet section in rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4001757521090600263.mp4"}
+{"uid":"4055801650240737730","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2863641970137015563.mp4"}
+{"uid":"16703925715895088969","text":"\u003ctask:success:discrete:True\u003e\nPut the white packet in basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white packet in basket\n\u003c/PRED\u003e","video":"12422585121812065850.mp4"}
+{"uid":"4251923007350545773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10263425651857172812.mp4"}
+{"uid":"10241204443293864793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the right side top indoor plant to the 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":"8114943729953389574.mp4"}
+{"uid":"16767335051707106055","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7752634040911733136.mp4"}
+{"uid":"15761973658622930591","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":"11169510611505050585.mp4"}
+{"uid":"1467767304823577293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"11218666944554379579.mp4"}
+{"uid":"6820853089860239170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the basket inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10794352722289423462.mp4"}
+{"uid":"1770093777617939025","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"13909028302443547715.mp4"}
+{"uid":"8076026272160624274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2662262912521567498.mp4"}
+{"uid":"4993399654140450467","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in 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":"6595857477933097584.mp4"}
+{"uid":"14442700375773119559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in a stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13712239437249284696.mp4"}
+{"uid":"8942008405240600100","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":"821124849266828482.mp4"}
+{"uid":"2546933785939649422","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown sugar packet in the organiser 2- Put the white packets in basket 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the brown sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown sugar packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket Q: immediate next step? \u003cPRED\u003eA: Put the brown sugar packet in the organiser\n\u003c/PRED\u003e","video":"10910745600840011711.mp4"}
+{"uid":"856540077671930758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a  pen on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2712582521043905749.mp4"}
+{"uid":"16212696649598440919","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":"8352350372673568358.mp4"}
+{"uid":"17552016746359996218","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put two white sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut two white sugar packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put two white sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put two white sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket 11- Put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put two white sugar packet in the organiser 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut two white sugar packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket 9- Put the suger candy in basket 10- Put the suger candy in basket 11- Put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: Put two white sugar packet in the organiser\n\u003c/PRED\u003e","video":"5836443288453342593.mp4"}
+{"uid":"16974364568145360779","text":"\u003ctask:success:discrete:False\u003e\nPut the suger candy in 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: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the suger candy in basket 2- Put the suger candy in basket 3- Put the white packet in basket 4- Put the white packets in basket 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the suger candy in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the suger candy in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- Put sugar packets in the organiser 2- Put the suger candy in basket 3- Put the white packets in basket 4- Put pink sugar packets in the organiser 5- Put the white packet in basket 6- Put the white packet in basket 7- Put white packet inbasket 8- put the white packet in basket Q: immediate next step? \u003cPRED\u003eA: Put the suger candy in basket\n\u003c/PRED\u003e","video":"6359444170700530845.mp4"}
+{"uid":"15863087902081194629","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3192161442795192105.mp4"}
+{"uid":"1829579620830789145","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put green marker in the glass 2- pickup blue marker 3- put blue marker in the glass 4- pickup the yellow marker 5- place the yellow marker in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup Q: immediate next step? \u003cPRED\u003eA: put green marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: put green marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green marker in the glass\n\u003c/PRED\u003e","video":"7638870927732221027.mp4"}
+{"uid":"16817050084213969373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker into the container box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"586911890699701184.mp4"}
+{"uid":"14632613766912452661","text":"\u003ctask:success:discrete:True\u003e\nput yellow marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put yellow marker in the glass\n\u003c/PRED\u003e","video":"589046533618624048.mp4"}
+{"uid":"996960444513621680","text":"\u003ctask:success:discrete:True\u003e\nPut the pink marker in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pink marker in the plastic glass\n\u003c/PRED\u003e","video":"16905574757799887372.mp4"}
+{"uid":"18049653274044399196","text":"\u003ctask:success:discrete:False\u003e\nplace the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk. last 20 steps: 1- open the fridge Q: immediate next step? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk. last 20 steps: 1- open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- place the bottle on the table 2- done\n\u003c/PRED\u003e","video":"4778682719341027794.mp4"}
+{"uid":"11466580944030949872","text":"\u003ctask:success:discrete:True\u003e\npickup blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup blue marker\n\u003c/PRED\u003e","video":"12414997910714894674.mp4"}
+{"uid":"12781834378537411849","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: put pink marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker 14- place the blue marker in the cup Q: immediate next step? \u003cPRED\u003eA: put pink marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker 14- place the blue marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pink marker in the glass 2- done\n\u003c/PRED\u003e","video":"9895546575668492623.mp4"}
+{"uid":"16359660658988588949","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9192224430483846437.mp4"}
+{"uid":"641411183413898350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5790098851178058247.mp4"}
+{"uid":"7486332461067521020","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the pink marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the pink marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pickup the pink marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the pink marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: pickup the pink marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the pink marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker\n\u003c/PRED\u003e","video":"1985108347274296621.mp4"}
+{"uid":"10365790801088270525","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4466648972001105468.mp4"}
+{"uid":"10415420657736140605","text":"\u003ctask:success:discrete:False\u003e\npickup the green marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: pickup the green marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the green marker 2- place green marker in the cup 3- pickup blue marker 4- put blue marker in the glass 5- pickup the yellow marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the green marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the green marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup Q: immediate next step? \u003cPRED\u003eA: pickup the green marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the green marker\n\u003c/PRED\u003e","video":"2323591794040750606.mp4"}
+{"uid":"14001631757116718858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7373240429859651822.mp4"}
+{"uid":"7965065244183907387","text":"\u003ctask:success:discrete:True\u003e\nPut the pink marker in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker 14- place the blue marker in the cup 15- Put the pink marker in the plastic glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker 14- place the blue marker in the cup 15- Put the pink marker in the plastic glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pink marker in the plastic glass\n\u003c/PRED\u003e","video":"4826106174551852097.mp4"}
+{"uid":"16371088003759393750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9583847909662837006.mp4"}
+{"uid":"15523773578397939023","text":"\u003ctask:success:discrete:True\u003e\nPut the yellow marker in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow marker in the plastic glass\n\u003c/PRED\u003e","video":"11069826690138891919.mp4"}
+{"uid":"13406386869615332687","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue marker 2- put blue marker in the glass 3- pickup the yellow marker 4- place the yellow marker in the cup 5- pickup the yellow marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup Q: immediate next step? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e","video":"852132040346984745.mp4"}
+{"uid":"5314477899417849662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pebbles 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":"3988866541804235529.mp4"}
+{"uid":"10481811111633114965","text":"\u003ctask:success:discrete:False\u003e\nplace the blue marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker in the cup 2- pickup the yellow marker 3- place the yellow marker in the cup 4- pickup the yellow marker 5- place the yellow marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npickup blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup blue marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue marker in the cup\n\u003c/PRED\u003e","video":"8838975254756735890.mp4"}
+{"uid":"13103004459387126829","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- place the bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14275988480888102510.mp4"}
+{"uid":"17977922205408981048","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9379544034028461108.mp4"}
+{"uid":"8949561636101569445","text":"\u003ctask:success:discrete:False\u003e\npickup the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: pickup the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the yellow marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the yellow marker 2- place the yellow marker in the cup 3- pickup the yellow marker 4- place the yellow marker in the cup 5- pickup the green marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass Q: immediate next step? \u003cPRED\u003eA: pickup the yellow marker\n\u003c/PRED\u003e","video":"7971654662417146866.mp4"}
+{"uid":"82520290418518686","text":"\u003ctask:success:discrete:True\u003e\nPut the green marker in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the green marker in the plastic glass\n\u003c/PRED\u003e","video":"5379835743776281697.mp4"}
+{"uid":"15833702450952534239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17414204430916723143.mp4"}
+{"uid":"6295448978691254976","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9351968890852371592.mp4"}
+{"uid":"7648444595523045111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a fork 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":"17052823674245048978.mp4"}
+{"uid":"11116833328159244987","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14888069635810236533.mp4"}
+{"uid":"15484916903779441289","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker Q: immediate next step? \u003cPRED\u003eA: put blue marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- put blue marker in the glass 2- place the pink marker in the cup 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: put blue marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15271332175483745951.mp4"}
+{"uid":"275759566495350831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a sticky note in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14582010055679022262.mp4"}
+{"uid":"11420572366740627444","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3327073904731934075.mp4"}
+{"uid":"11159091949527644596","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14819441843062362983.mp4"}
+{"uid":"17152061032348517326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3544882187951326786.mp4"}
+{"uid":"18144375360781207486","text":"\u003ctask:success:discrete:True\u003e\nput green marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put green marker in the glass\n\u003c/PRED\u003e","video":"2452175714285505916.mp4"}
+{"uid":"6328597284071521468","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk. last 20 steps: 1- open the fridge 2- place the bottle on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am thirsty can you get me a hint mango from mk fridge and bring it to my desk. last 20 steps: 1- open the fridge 2- place the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e","video":"5903305467019307136.mp4"}
+{"uid":"13457342092247370779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the red candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1865111529389058735.mp4"}
+{"uid":"10632783725685468950","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow marker in the glass 2- pickup the green marker 3- place green marker in the cup 4- pickup blue marker 5- place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup Q: immediate next step? \u003cPRED\u003eA: put yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: put yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2430726550868670296.mp4"}
+{"uid":"15353036099110132268","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the yellow marker in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18186813164130050662.mp4"}
+{"uid":"7432246302080060646","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npickup the green marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green marker in the cup\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the green marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker Q: next 5 steps? \u003cPRED\u003eA: 1- place green marker in the cup 2- pickup blue marker 3- put blue marker in the glass 4- pickup the yellow marker 5- place the yellow marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: place green marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker Q: immediate next step? \u003cPRED\u003eA: place green marker in the cup\n\u003c/PRED\u003e","video":"5045096285026773626.mp4"}
+{"uid":"15996265399896149463","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker Q: immediate next step? \u003cPRED\u003eA: place pink marker in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker Q: next 5 steps? \u003cPRED\u003eA: 1- place pink marker in the cup 2- pickup the green marker 3- place green marker in the cup 4- pickup blue marker 5- put blue marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npickup the pink marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: place pink marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the pink marker\n\u003c/PRED\u003e","video":"15991221365796051424.mp4"}
+{"uid":"1349157194923805595","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachios on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4336947329723034182.mp4"}
+{"uid":"9440325067828310910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  pen into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12583258192694394347.mp4"}
+{"uid":"9676557347031277416","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker 14- place the blue marker in the cup 15- pickup the pink marker Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink marker in the cup 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: place the pink marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npickup the pink marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink marker in the cup\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the pink marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker 14- place the blue marker in the cup 15- pickup the pink marker Q: immediate next step? \u003cPRED\u003eA: place the pink marker in the cup\n\u003c/PRED\u003e","video":"1533723563115947666.mp4"}
+{"uid":"10388043144588624468","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace orange packet inside the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"481996906082664362.mp4"}
+{"uid":"6613305061244608106","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put blue marker in the glass 2- pickup the yellow marker 3- place the yellow marker in the cup 4- pickup the yellow marker 5- place the yellow marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup Q: immediate next step? \u003cPRED\u003eA: put blue marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: put blue marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6576231848172956664.mp4"}
+{"uid":"12931007049030603240","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14346050086886101157.mp4"}
+{"uid":"4911721465361383659","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: put the blue marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue marker in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker in the plastic glass 2- pickup the yellow marker 3- place the yellow marker in the cup 4- pickup the yellow marker 5- place the yellow marker in the cup\n\u003c/PRED\u003e","video":"16458605120805284248.mp4"}
+{"uid":"4144882560163931176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17253764324641853495.mp4"}
+{"uid":"12323751913213461977","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup Q: immediate next step? \u003cPRED\u003eA: Put the green marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green marker in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green marker in the plastic glass 2- pickup blue marker 3- put blue marker in the glass 4- pickup the yellow marker 5- place the yellow marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: Put the green marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green marker in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18215561562450639283.mp4"}
+{"uid":"11988544636019786493","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow marker in the plastic glass 2- pickup the green marker 3- place green marker in the cup 4- pickup blue marker 5- place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow marker in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow marker in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow marker in the plastic glass\n\u003c/PRED\u003e","video":"7805180834009767622.mp4"}
+{"uid":"9199022736840133838","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the pink marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink marker in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pink marker in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: Put the pink marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink marker in the plastic glass 2- pickup the green marker 3- place green marker in the cup 4- pickup blue marker 5- put blue marker in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink marker in the plastic glass\n\u003c/PRED\u003e","video":"10776497240409638077.mp4"}
+{"uid":"8061839015846107238","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink marker in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: Put the pink marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pink marker in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker 14- place the blue marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink marker in the plastic glass 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker 14- place the blue marker in the cup Q: immediate next step? \u003cPRED\u003eA: Put the pink marker in the plastic glass\n\u003c/PRED\u003e","video":"10465568580765025534.mp4"}
+{"uid":"12037439346865625162","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker in the cup 2- pickup the pink marker 3- place the pink marker in the cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the cup\n\u003c/PRED\u003e","video":"5428164746266953618.mp4"}
+{"uid":"6486388591494210054","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5237441048585040567.mp4"}
+{"uid":"6353536590290575747","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker Q: immediate next step? \u003cPRED\u003eA: place green marker in the cup\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the green marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green marker in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker Q: next 5 steps? \u003cPRED\u003eA: 1- place green marker in the cup 2- pickup blue marker 3- place the blue marker in the cup 4- pickup the pink marker 5- place the pink marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npickup the green marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: place green marker in the cup\n\u003c/PRED\u003e","video":"1899866972585018734.mp4"}
+{"uid":"2703021010522213207","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: Put the green marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green marker in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green marker in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup Q: immediate next step? \u003cPRED\u003eA: Put the green marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green marker in the plastic glass 2- pickup blue marker 3- place the blue marker in the cup 4- pickup the pink marker 5- place the pink marker in the cup\n\u003c/PRED\u003e","video":"7417921141588962102.mp4"}
+{"uid":"3700903942031693817","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup Q: immediate next step? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the blue marker 2- place the blue marker in the cup 3- pickup the pink marker 4- place the pink marker in the cup 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13177766012569630064.mp4"}
+{"uid":"13784297800974521121","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the forks in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2174401636741658432.mp4"}
+{"uid":"5482774241170881558","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup Q: immediate next step? \u003cPRED\u003eA: pickup the green marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the green marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the yellow marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the green marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: pickup the green marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the green marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the green marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the green marker 2- place green marker in the cup 3- pickup blue marker 4- place the blue marker in the cup 5- pickup the pink marker\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the yellow marker in the cup\n\u003c/PRED\u003e","video":"11408363840672043166.mp4"}
+{"uid":"3758881038259455944","text":"\u003ctask:success:discrete:True\u003e\nPut the blue marker in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue marker in the plastic glass\n\u003c/PRED\u003e","video":"15918208401508634643.mp4"}
+{"uid":"2451424696776332204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the orange 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":"16920206913377066246.mp4"}
+{"uid":"8819846244828954410","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker 14- place the blue marker in the cup 15- put pink marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pink marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pink marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker 14- place the blue marker in the cup 15- put pink marker in the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4144007216854737669.mp4"}
+{"uid":"1271537784528761909","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the blue marker 2- put blue marker in the glass 3- pickup the yellow marker 4- place the yellow marker in the cup 5- pickup the yellow marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup Q: immediate next step? \u003cPRED\u003eA: pick up the blue marker\n\u003c/PRED\u003e","video":"14368026590860945191.mp4"}
+{"uid":"13451506546511668793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16429839153935395515.mp4"}
+{"uid":"13419537347477773673","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue marker in the plastic glass 2- pickup the pink marker 3- place the pink marker in the cup 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue marker in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker Q: immediate next step? \u003cPRED\u003eA: Put the blue marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue marker in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: Put the blue marker in the plastic glass\n\u003c/PRED\u003e","video":"5485289300629843383.mp4"}
+{"uid":"16767203744739304354","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the green marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the green marker in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10884645872752420256.mp4"}
+{"uid":"12319694663752076725","text":"\u003ctask:success:discrete:False\u003e\npickup the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the yellow marker 2- place the yellow marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the yellow marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the yellow marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the yellow marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup Q: immediate next step? \u003cPRED\u003eA: pickup the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: pickup the yellow marker\n\u003c/PRED\u003e","video":"17475452401422415999.mp4"}
+{"uid":"9535498481686464687","text":"\u003ctask:success:discrete:True\u003e\nput green marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put green marker in the glass\n\u003c/PRED\u003e","video":"1656679422931015516.mp4"}
+{"uid":"7385536052485391457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"5470707166310097202.mp4"}
+{"uid":"17822991498974849026","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":"12336323369820104578.mp4"}
+{"uid":"5043233745588904216","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker 14- place the blue marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the pink marker 2- place the pink marker in the cup 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the pink marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the pink marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the pink marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker 14- place the blue marker in the cup Q: immediate next step? \u003cPRED\u003eA: pickup the pink marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: pickup the pink marker\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the pink marker\n\u003c/PRED\u003e","video":"14697610714196789254.mp4"}
+{"uid":"1150924086696080866","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker 14- place the blue marker in the cup 15- pickup the pink marker 16- place the pink marker in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pink marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup 13- pickup blue marker 14- place the blue marker in the cup 15- pickup the pink marker 16- place the pink marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"763430532463212190.mp4"}
+{"uid":"7863107560706132808","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: put yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass Q: immediate next step? \u003cPRED\u003eA: put yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow marker in the glass 2- pickup the yellow marker 3- place the yellow marker in the cup 4- pickup the green marker 5- place green marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9250793910388650547.mp4"}
+{"uid":"10468355457341046867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwrite letter Z 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":"3374881492769894657.mp4"}
+{"uid":"15430637557737283847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the fruit into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12954529278213830777.mp4"}
+{"uid":"618127484403063541","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput green marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup Q: immediate next step? \u003cPRED\u003eA: put green marker in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put green marker in the glass 2- pickup blue marker 3- place the blue marker in the cup 4- pickup the pink marker 5- place the pink marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: put green marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16723712558681280143.mp4"}
+{"uid":"5303270338904467276","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pickup blue marker 2- place the blue marker in the cup 3- pickup the pink marker 4- place the pink marker in the cup 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup blue marker\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: pickup blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup blue marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup Q: immediate next step? \u003cPRED\u003eA: pickup blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9402720772108999154.mp4"}
+{"uid":"721364221697768999","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup Q: immediate next step? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker 10- place the yellow marker in the cup 11- pickup the green marker 12- place green marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue marker 2- place the blue marker in the cup 3- pickup the pink marker 4- place the pink marker in the cup 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the blue marker\n\u003c/PRED\u003e","video":"4605996854778465408.mp4"}
+{"uid":"3886901434892636539","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow marker in the cup 2- pickup the green marker 3- place green marker in the cup 4- pickup blue marker 5- place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker 8- place the yellow marker in the cup 9- pickup the yellow marker Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npickup the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow marker in the cup\n\u003c/PRED\u003e","video":"6199139727760169670.mp4"}
+{"uid":"3368715682879357654","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":"18412498235903090658.mp4"}
+{"uid":"10582741392856748765","text":"\u003ctask:success:discrete:True\u003e\nput blue marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue marker in the glass\n\u003c/PRED\u003e","video":"10984708509033972945.mp4"}
+{"uid":"9189849066130765697","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1979975132659186384.mp4"}
+{"uid":"5376887865260946019","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pink marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put pink marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put pink marker in the glass 2- pickup the green marker 3- place green marker in the cup 4- pickup blue marker 5- put blue marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pink marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pink marker in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pink marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: put pink marker in the glass\n\u003c/PRED\u003e","video":"4464395280903725116.mp4"}
+{"uid":"8279261287957983678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5557610241126365311.mp4"}
+{"uid":"12610351242047753722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow  stone in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9519469470219303772.mp4"}
+{"uid":"16986378395603509081","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":"2271881711895255971.mp4"}
+{"uid":"5358242401798944805","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put yellow marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput yellow marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10393892310721031665.mp4"}
+{"uid":"11538882593049519133","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: pickup blue marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pickup blue marker 2- pickup the yellow marker 3- place the yellow marker in the cup 4- pickup the yellow marker 5- place the yellow marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup blue marker\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup Q: immediate next step? \u003cPRED\u003eA: pickup blue marker\n\u003c/PRED\u003e","video":"17926714605838225505.mp4"}
+{"uid":"2671143437430356561","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop binder clip into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15706435117624390488.mp4"}
+{"uid":"16554276303801376317","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow marker in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass 7- pickup the yellow marker Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow marker in the cup 2- pickup the yellow marker 3- place the yellow marker in the cup 4- pickup the green marker 5- place green marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow marker in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow marker in the cup\n\u003c/PRED\u003e","video":"404158601336388878.mp4"}
+{"uid":"18404279276839040906","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass Q: immediate next step? \u003cPRED\u003eA: Put the yellow marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow marker in the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow marker in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow marker in the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a marker on the table into a cup that has a matching color marker until there are no markers left on the table. last 20 steps: 1- pickup the pink marker 2- place pink marker in the cup 3- pickup the green marker 4- place green marker in the cup 5- pickup blue marker 6- put blue marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow marker in the plastic glass 2- pickup the yellow marker 3- place the yellow marker in the cup 4- pickup the green marker 5- place green marker in the cup\n\u003c/PRED\u003e","video":"5504525301191435273.mp4"}
+{"uid":"1487992076521597271","text":"\u003ctask:success:discrete:True\u003e\nput pink marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pink marker in the glass\n\u003c/PRED\u003e","video":"8297833299291910653.mp4"}
+{"uid":"8189632740268657537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy on upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12175004121497116103.mp4"}
+{"uid":"9813460199676888486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic spoons 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":"10659099830192703290.mp4"}
+{"uid":"8716265501981240607","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab 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":"16674951490131989299.mp4"}
+{"uid":"3992096163573072170","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue marker in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14642993302846842779.mp4"}
+{"uid":"2689215784667868846","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6816940514371072924.mp4"}
+{"uid":"1385339258303879434","text":"\u003ctask:success:discrete:True\u003e\npick up the crunched brown paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the crunched brown paper\n\u003c/PRED\u003e","video":"8115166713837180972.mp4"}
+{"uid":"4088691986909214680","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4424239784021833868.mp4"}
+{"uid":"16544942832066916407","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take the paper in front of the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntake the paper in front of the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper 11- take the paper in front of the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper 11- take the paper in front of the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10889192509725025662.mp4"}
+{"uid":"636090809882424319","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- move robot arm toward the table 2- pick up a paper glass from the table 3- take paper glass out of the room 4- throw a paper glass into dustbin 5- move arm in front of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move robot arm toward the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move robot arm toward the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove robot arm toward the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 robot arm toward 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: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: move robot arm toward the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin Q: immediate next step? \u003cPRED\u003eA: move robot arm toward the table\n\u003c/PRED\u003e","video":"2425696767823291684.mp4"}
+{"uid":"12247089827253054392","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table Q: next 5 steps? \u003cPRED\u003eA: 1- take out the can from the room 2- take the can in front of the dustbin 3- put the can in dustbin 4- move robot arm toward the table 5- pick up a paper glass from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take out the can from the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: take out the can from the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table Q: immediate next step? \u003cPRED\u003eA: take out the can from the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake out the can from the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake out the can from the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take out the can from the room\n\u003c/PRED\u003e","video":"1810058782342590688.mp4"}
+{"uid":"9636563715133045376","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can in dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can in dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the can in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin Q: immediate next step? \u003cPRED\u003eA: put the can in dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can in dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in dustbin 2- move robot arm toward the table 3- pick up a paper glass from the table 4- take paper glass out of the room 5- throw a paper glass into dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: put the can in dustbin\n\u003c/PRED\u003e","video":"3506111651907267696.mp4"}
+{"uid":"5097039118237698318","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":"4570727466593686244.mp4"}
+{"uid":"1109243003819230688","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the tin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the tin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12103129008179025952.mp4"}
+{"uid":"1856406252962905072","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the cup out from the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the cup out from the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14978043756782295999.mp4"}
+{"uid":"6047128425774115176","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: move arm in front of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove arm in front of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- move arm in front of the table 2- exit the room with the crunched paper 3- drop the crunched paper in the bin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move arm in front of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move arm in front of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin Q: immediate next step? \u003cPRED\u003eA: move arm in front of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove arm in front of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5471247884938159132.mp4"}
+{"uid":"5263691482754253505","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring a coconut water to my desk please Q: immediate next step? \u003cPRED\u003eA: pick up the white can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the white can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the white can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the white can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the white can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring a coconut water to my desk please. last 20 steps: 1- open refrigerator door Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the white can 2- exit the room with the can 3- put can on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring a coconut water to my desk please. last 20 steps: 1- open refrigerator door Q: immediate next step? \u003cPRED\u003eA: pick up the white can\n\u003c/PRED\u003e","video":"3650807718606132443.mp4"}
+{"uid":"1668245804249871583","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the can out from the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the can out from the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11690159372112540375.mp4"}
+{"uid":"2934348101462410468","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a fork 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":"10192665240997843270.mp4"}
+{"uid":"10470848838056006840","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16279497953971637893.mp4"}
+{"uid":"13530216440912500144","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green 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":"4855594010744692322.mp4"}
+{"uid":"14178174197161259953","text":"\u003ctask:success:discrete:True\u003e\nAdjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e","video":"8183121803948916608.mp4"}
+{"uid":"7757535915582594229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"458399469839564068.mp4"}
+{"uid":"5514336232274486613","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16803721295653832811.mp4"}
+{"uid":"4289736061401664578","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. last 20 steps: 1- put packet on the white table 2- put packet on the white table 3- put packet on the black table 4- put packet on the white table Q: immediate next step? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. last 20 steps: 1- put packet on the white table 2- put packet on the white table 3- put packet on the black table 4- put packet on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the white table 2- put packet on the black table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. Q: immediate next step? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e","video":"9642110313068967969.mp4"}
+{"uid":"13553635725402988481","text":"\u003ctask:success:discrete:True\u003e\npick up a paper glass from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up a paper glass from the table\n\u003c/PRED\u003e","video":"17452517478177294641.mp4"}
+{"uid":"153081750518549203","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take the paper in front of the dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: take the paper in front of the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake the paper in front of the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper Q: immediate next step? \u003cPRED\u003eA: take the paper in front of the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake the paper in front of the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take the paper in front of the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper Q: next 5 steps? \u003cPRED\u003eA: 1- take the paper in front of the dustbin 2- done\n\u003c/PRED\u003e","video":"8874932167817575108.mp4"}
+{"uid":"3730471363205150419","text":"\u003ctask:success:discrete:True\u003e\ndrop the cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cup in the bin\n\u003c/PRED\u003e","video":"9353853703507931968.mp4"}
+{"uid":"7185265167708872443","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cup in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cup in the bin 2- move arm in front of the table 3- pick up the crunched brown paper 4- exit the room with the crunched paper 5- drop the crunched paper in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cup in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cup in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: drop the cup in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room Q: immediate next step? \u003cPRED\u003eA: drop the cup in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3871856706660665869.mp4"}
+{"uid":"67132329736932885","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the Organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5587072088837659347.mp4"}
+{"uid":"15075389959226961246","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut sugar packets 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":"6499300472494978440.mp4"}
+{"uid":"2427297972867595457","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on the white 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":"9821743867353770980.mp4"}
+{"uid":"14367650553197441105","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nEnter into the hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17122826855195217631.mp4"}
+{"uid":"6227574326088507849","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move robot arm toward the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove robot arm toward 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":"2056423060601438576.mp4"}
+{"uid":"9825113572543005368","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the paper out from the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: move the paper out from the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table Q: immediate next step? \u003cPRED\u003eA: move the paper out from the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the paper out from the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the paper out from the room 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the paper out from the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the paper out from the room\n\u003c/PRED\u003e","video":"185982481302982372.mp4"}
+{"uid":"13800995523131192739","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove tray to the front Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10132707516968420752.mp4"}
+{"uid":"193808533205512064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2115038997110737346.mp4"}
+{"uid":"16682172745638639619","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen in the right 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":"9959935752710396527.mp4"}
+{"uid":"4682919223652606284","text":"\u003ctask:success:discrete:True\u003e\nexit the room with the crunched paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room with the crunched paper\n\u003c/PRED\u003e","video":"8820519440985216503.mp4"}
+{"uid":"13267507158574556620","text":"\u003ctask:success:discrete:False\u003e\nmove can to the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room Q: next 5 steps? \u003cPRED\u003eA: 1- move can to the dustbin 2- put the can in dustbin 3- move robot arm toward the table 4- pick up a paper glass from the table 5- take paper glass out of the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: move can to the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move can to the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room Q: immediate next step? \u003cPRED\u003eA: move can to the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove can to the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move can to the dustbin\n\u003c/PRED\u003e","video":"4006286320381393302.mp4"}
+{"uid":"4380249140865201520","text":"\u003ctask:success:discrete:True\u003e\nmove arm in front of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move arm in front of the table\n\u003c/PRED\u003e","video":"17181923210349820594.mp4"}
+{"uid":"9810890406025162701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust blue can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11313955868127261615.mp4"}
+{"uid":"13681396765318086536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9963113884172467858.mp4"}
+{"uid":"14087201716414879437","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take paper glass out of the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take paper glass out of the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake paper glass out of the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake paper glass out of the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table Q: immediate next step? \u003cPRED\u003eA: take paper glass out of the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: take paper glass out of the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table Q: next 5 steps? \u003cPRED\u003eA: 1- take paper glass out of the room 2- throw a paper glass into dustbin 3- move arm in front of the table 4- pick up the crunched brown paper 5- exit the room with the crunched paper\n\u003c/PRED\u003e","video":"4590503664583528773.mp4"}
+{"uid":"6649139629049253733","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: put the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup in the dustbin 2- pick up the crunched brown paper 3- exit the room with the crunched paper 4- drop the crunched paper in the bin 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room Q: immediate next step? \u003cPRED\u003eA: put the cup in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"343427426124032932.mp4"}
+{"uid":"6296824661264190618","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue highlighter on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16590427462716110641.mp4"}
+{"uid":"277191448401413076","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring a coconut water to my desk please. last 20 steps: 1- open refrigerator door 2- pick up the white can 3- exit the room with the can Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring a coconut water to my desk please. last 20 steps: 1- open refrigerator door 2- pick up the white can 3- exit the room with the can Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring a coconut water to my desk please Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12863746285006447473.mp4"}
+{"uid":"17953687808262451680","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 tin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the tin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pick up the tin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tin 2- take the can in front of the dustbin 3- put the can in dustbin 4- move robot arm toward the table 5- pick up a paper glass from the table\n\u003c/PRED\u003e","video":"7103423921984309511.mp4"}
+{"uid":"425904559728191475","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. last 20 steps: 1- put packet on the white table Q: immediate next step? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. Q: immediate next step? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. last 20 steps: 1- put packet on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the white table 2- put packet on the black table 3- put packet on the white table 4- put packet on the white table 5- put packet on the black table\n\u003c/PRED\u003e","video":"10820370531050299673.mp4"}
+{"uid":"14290033747781531148","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white fork into the black cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11351639125106944002.mp4"}
+{"uid":"12539022727310498869","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw a paper glass into dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow a paper glass into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7436718987412865559.mp4"}
+{"uid":"9369001525887245429","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the chair 2- Adjust the chair 3- Adjust the chair 4- Adjust the chair 5- Adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14062414548309176556.mp4"}
+{"uid":"9052101774554508515","text":"\u003ctask:success:discrete:True\u003e\nAdjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e","video":"7154412577056721998.mp4"}
+{"uid":"2599493622000833493","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nAdjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6302505062182589097.mp4"}
+{"uid":"13440600788848446338","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npicking up the nut and dropping 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":"10935522800062901005.mp4"}
+{"uid":"7765137856632785755","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the orange 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":"3947729288602834416.mp4"}
+{"uid":"12723568064032761945","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. last 20 steps: 1- put packet on the white table 2- put packet on the white table Q: immediate next step? \u003cPRED\u003eA: put packet on the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. Q: immediate next step? \u003cPRED\u003eA: put packet on the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. last 20 steps: 1- put packet on the white table 2- put packet on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the black table 2- put packet on the white table 3- put packet on the white table 4- put packet on the black table 5- done\n\u003c/PRED\u003e","video":"1360562210531746437.mp4"}
+{"uid":"9828048450736239371","text":"\u003ctask:success:discrete:False\u003e\nthrow paper piece into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw paper piece into dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw paper piece into dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: throw paper piece into dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow paper piece into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper 11- exit the room with the crunched paper Q: next 5 steps? \u003cPRED\u003eA: 1- throw paper piece into dustbin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper 11- exit the room with the crunched paper Q: immediate next step? \u003cPRED\u003eA: throw paper piece into dustbin\n\u003c/PRED\u003e","video":"12813194727741556934.mp4"}
+{"uid":"9986690514212771442","text":"\u003ctask:success:discrete:True\u003e\nexit the room with the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room with the can\n\u003c/PRED\u003e","video":"18077809199857416501.mp4"}
+{"uid":"16492787112218088468","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pista in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18179707926408218973.mp4"}
+{"uid":"15562696882509997720","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table Q: next 5 steps? \u003cPRED\u003eA: 1- grab a paper piece from the table 2- drop the crunched paper in the bin 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table Q: immediate next step? \u003cPRED\u003eA: grab a paper piece from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab a paper piece from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: grab a paper piece from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab a paper piece from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab a paper piece from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab a paper piece from the table\n\u003c/PRED\u003e","video":"17505634869740158631.mp4"}
+{"uid":"6913163424086269207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black pen in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11642282234986310475.mp4"}
+{"uid":"8007078362490274172","text":"\u003ctask:success:discrete:True\u003e\nput packet on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e","video":"2953222893605602443.mp4"}
+{"uid":"12265645877326484488","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. Q: immediate next step? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. last 20 steps: 1- put packet on the white table 2- put packet on the white table 3- put packet on the black table Q: immediate next step? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. last 20 steps: 1- put packet on the white table 2- put packet on the white table 3- put packet on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the white table 2- put packet on the white table 3- put packet on the black table 4- done\n\u003c/PRED\u003e","video":"2213439144204616148.mp4"}
+{"uid":"17653684887436851856","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin Q: immediate next step? \u003cPRED\u003eA: throw a can into dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: throw a can into dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow a can into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow a can into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw a can into dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw a can into dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- throw a can into dustbin 2- move robot arm toward the table 3- pick up a paper glass from the table 4- take paper glass out of the room 5- throw a paper glass into dustbin\n\u003c/PRED\u003e","video":"8081898540761106056.mp4"}
+{"uid":"7508543715783667217","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room with the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the room with the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7849024957106283878.mp4"}
+{"uid":"9288510859684631023","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. last 20 steps: 1- Adjust the chair 2- Adjust the chair 3- Adjust the chair 4- Adjust the chair 5- Adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the chair 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. last 20 steps: 1- Adjust the chair 2- Adjust the chair 3- Adjust the chair 4- Adjust the chair 5- Adjust the chair Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e","video":"18032862468335366856.mp4"}
+{"uid":"5886565653600295817","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the cup out from the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table Q: immediate next step? \u003cPRED\u003eA: move the cup out from the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: move the cup out from the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the cup out from the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the cup out from the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the cup out from the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the cup out from the room 2- move arm in front of the table 3- pick up the crunched brown paper 4- exit the room with the crunched paper 5- drop the crunched paper in the bin\n\u003c/PRED\u003e","video":"12052283384485239906.mp4"}
+{"uid":"16868496904276059465","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove stand to the corner of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15026172511668511099.mp4"}
+{"uid":"7988651648230320746","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table Q: immediate next step? \u003cPRED\u003eA: move the can out from the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the can out from the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the can out from the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the can out from the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the can out from the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table Q: next 5 steps? \u003cPRED\u003eA: 1- move the can out from the room 2- put the can in dustbin 3- move robot arm toward the table 4- pick up a paper glass from the table 5- take paper glass out of the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: move the can out from the room\n\u003c/PRED\u003e","video":"13513244347929014246.mp4"}
+{"uid":"9773400465350556108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5044632004322547712.mp4"}
+{"uid":"915377803939324435","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the crunched brown paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pick up the crunched brown paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the crunched 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin Q: immediate next step? \u003cPRED\u003eA: pick up the crunched brown paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the crunched brown paper 2- exit the room with the crunched paper 3- drop the crunched paper in the bin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the crunched brown paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the crunched 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","video":"7860883084777293338.mp4"}
+{"uid":"12384417970727369852","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","video":"9264533250611639834.mp4"}
+{"uid":"1886034541488958106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4947920224648628060.mp4"}
+{"uid":"6087401280291594813","text":"\u003ctask:success:discrete:True\u003e\ntake the can in front of the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take the can in front of the dustbin\n\u003c/PRED\u003e","video":"16495288065961460520.mp4"}
+{"uid":"854626817853500860","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":"948363649086645740.mp4"}
+{"uid":"49812582018604012","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring a coconut water to my desk please. last 20 steps: 1- open refrigerator door 2- pick up the white can 3- exit the room with the can 4- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring a coconut water to my desk please. last 20 steps: 1- open refrigerator door 2- pick up the white can 3- exit the room with the can 4- put can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring a coconut water to my desk please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15330523064843343605.mp4"}
+{"uid":"14145784864046643539","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. last 20 steps: 1- Adjust the chair 2- Adjust the chair 3- Adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the chair 2- Adjust the chair 3- Adjust the chair 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. last 20 steps: 1- Adjust the chair 2- Adjust the chair 3- Adjust the chair Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4021737988622781229.mp4"}
+{"uid":"4654767206505674141","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring a coconut water to my desk please Q: immediate next step? \u003cPRED\u003eA: open refrigerator door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring a coconut water to my desk please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open refrigerator door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen refrigerator door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open refrigerator door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring a coconut water to my desk please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open refrigerator door 2- pick up the white can 3- exit the room with the can 4- put can on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open refrigerator door\n\u003c/PRED\u003e","video":"4647147400362002352.mp4"}
+{"uid":"11944607625496019012","text":"\u003ctask:success:discrete:True\u003e\nput the cup in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup in the dustbin\n\u003c/PRED\u003e","video":"9305363772771407983.mp4"}
+{"uid":"18221671528067059816","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab a paper piece from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab a paper piece from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15824157806354078448.mp4"}
+{"uid":"4920095006713667567","text":"\u003ctask:success:discrete:False\u003e\ndrop the crunched paper in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the crunched paper in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: drop the crunched paper in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the crunched paper in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper 11- exit the room with the crunched paper Q: next 5 steps? \u003cPRED\u003eA: 1- drop the crunched paper in the bin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper 11- exit the room with the crunched paper Q: immediate next step? \u003cPRED\u003eA: drop the crunched paper in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the crunched paper in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1509750793331621660.mp4"}
+{"uid":"8698012304008701930","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open refrigerator door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen refrigerator door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1702818264454361617.mp4"}
+{"uid":"813645426347354594","text":"\u003ctask:success:discrete:True\u003e\nput packet on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e","video":"5413738437019783927.mp4"}
+{"uid":"18141791348037533437","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on the black 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":"6618466022209623191.mp4"}
+{"uid":"13688535407041674426","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw a can into dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow a can into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1158752761645586697.mp4"}
+{"uid":"3023873595912322757","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. last 20 steps: 1- Adjust the chair 2- Adjust the chair Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. last 20 steps: 1- Adjust the chair 2- Adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the chair 2- Adjust the chair 3- Adjust the chair 4- Adjust the chair 5- done\n\u003c/PRED\u003e","video":"9242510110257534813.mp4"}
+{"uid":"8439120804350002788","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. last 20 steps: 1- Adjust the chair 2- Adjust the chair 3- Adjust the chair 4- Adjust the chair Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. last 20 steps: 1- Adjust the chair 2- Adjust the chair 3- Adjust the chair 4- Adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the chair 2- Adjust the chair 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6398484764768002888.mp4"}
+{"uid":"3296834528968168186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14681802492948057692.mp4"}
+{"uid":"9684414871156793236","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. last 20 steps: 1- put packet on the white table 2- put packet on the white table 3- put packet on the black table 4- put packet on the white table 5- put packet on the white table 6- put packet on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. last 20 steps: 1- put packet on the white table 2- put packet on the white table 3- put packet on the black table 4- put packet on the white table 5- put packet on the white table 6- put packet on the black table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the black table\n\u003c/PRED\u003e","video":"15793642883290032142.mp4"}
+{"uid":"4160735325712717815","text":"\u003ctask:success:discrete:True\u003e\nmove the paper out from the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the paper out from the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- move the paper out from the room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- move the paper out from the room Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14653954006067901939.mp4"}
+{"uid":"10934333376652955778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5655852479536364244.mp4"}
+{"uid":"11960263053778259149","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room with the tin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the room with the tin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"291970572511480368.mp4"}
+{"uid":"242817716677890756","text":"\u003ctask:success:discrete:True\u003e\ntake paper glass out of the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take paper glass out of the room\n\u003c/PRED\u003e","video":"9979815835422367901.mp4"}
+{"uid":"16428073490263394793","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper 11- exit the room with the crunched paper 12- put the paper in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper 11- exit the room with the crunched paper 12- put the 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 paper in the dustbin\n\u003c/PRED\u003e","video":"1564823960257851412.mp4"}
+{"uid":"16210121032872210544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7067679674459095007.mp4"}
+{"uid":"14581838381325954785","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRotate the cup 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":"172445263839473269.mp4"}
+{"uid":"1087072117519320105","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. last 20 steps: 1- Adjust the chair Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. last 20 steps: 1- Adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the chair 2- Adjust the chair 3- Adjust the chair 4- Adjust the chair 5- Adjust the chair\n\u003c/PRED\u003e","video":"2793158527912678334.mp4"}
+{"uid":"7330769755943334222","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper 11- exit the room with the crunched paper 12- drop the crunched paper in the bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the crunched paper in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the crunched paper in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper 11- exit the room with the crunched paper 12- drop the crunched paper in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"12666305922571650776.mp4"}
+{"uid":"2564212101010946930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pens in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7150087118094445354.mp4"}
+{"uid":"7219259900085200854","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room with the crunched paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: exit the room with the crunched paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room with the crunched paper 2- drop the crunched paper in the bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room with the crunched paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room with the crunched 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper Q: immediate next step? \u003cPRED\u003eA: exit the room with the crunched paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room with the crunched paper\n\u003c/PRED\u003e","video":"474418145671832933.mp4"}
+{"uid":"2430961900205251554","text":"\u003ctask:success:discrete:True\u003e\npick a glass from table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a glass from table\n\u003c/PRED\u003e","video":"14788228368607150009.mp4"}
+{"uid":"10448056109310143667","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move can to the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove can to 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":"8152084264264902266.mp4"}
+{"uid":"11279586321728966138","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room with the tin 2- put the can in dustbin 3- move robot arm toward the table 4- pick up a paper glass from the table 5- take paper glass out of the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: exit the room with the tin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room with the tin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room with the tin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room with the tin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table Q: immediate next step? \u003cPRED\u003eA: exit the room with the tin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room with the tin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5075888331371041849.mp4"}
+{"uid":"3820873453134972963","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":"7172837576269614917.mp4"}
+{"uid":"3756831009024696509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4340880330679405717.mp4"}
+{"uid":"17367837315993894906","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. last 20 steps: 1- Adjust the chair 2- Adjust the chair 3- Adjust the chair 4- Adjust the chair 5- Adjust the chair 6- Adjust the chair Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nAdjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Tuck in all the chairs in the library. last 20 steps: 1- Adjust the chair 2- Adjust the chair 3- Adjust the chair 4- Adjust the chair 5- Adjust the chair 6- Adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e","video":"14475234306088207882.mp4"}
+{"uid":"8036130116977132267","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3416044429561026409.mp4"}
+{"uid":"9906683658005111511","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper 11- exit the room with the crunched paper Q: immediate next step? \u003cPRED\u003eA: put the paper in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room 8- throw a paper glass into dustbin 9- move arm in front of the table 10- pick up the crunched brown paper 11- exit the room with the crunched paper Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper in the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: put the paper in the dustbin\n\u003c/PRED\u003e","video":"15323963362091174949.mp4"}
+{"uid":"17279434678579417155","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room with the can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring a coconut water to my desk please Q: immediate next step? \u003cPRED\u003eA: exit the room with the can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring a coconut water to my desk please. last 20 steps: 1- open refrigerator door 2- pick up the white can Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room with the can 2- put can on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room with the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring a coconut water to my desk please. last 20 steps: 1- open refrigerator door 2- pick up the white can Q: immediate next step? \u003cPRED\u003eA: exit the room with the can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room with the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room with the can\n\u003c/PRED\u003e","video":"4649769751718971381.mp4"}
+{"uid":"1079204240335373119","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the white table 2- put packet on the white table 3- put packet on the black table 4- put packet on the white table 5- put packet on the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. Q: immediate next step? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9566989378584939513.mp4"}
+{"uid":"15553012547478017400","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. Q: immediate next step? \u003cPRED\u003eA: put packet on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. last 20 steps: 1- put packet on the white table 2- put packet on the white table 3- put packet on the black table 4- put packet on the white table 5- put packet on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the black table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in mk. last 20 steps: 1- put packet on the white table 2- put packet on the white table 3- put packet on the black table 4- put packet on the white table 5- put packet on the white table Q: immediate next step? \u003cPRED\u003eA: put packet on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17890931169182706926.mp4"}
+{"uid":"13504467949012941681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a yellow packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16444977782136390813.mp4"}
+{"uid":"67839445650780166","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room with the paper cup 2- move arm in front of the table 3- pick up the crunched brown paper 4- exit the room with the crunched paper 5- drop the crunched paper in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room with the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room with the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room with the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: exit the room with the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room with the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table Q: immediate next step? \u003cPRED\u003eA: exit the room with the paper cup\n\u003c/PRED\u003e","video":"8141620449344230788.mp4"}
+{"uid":"1614277258867565693","text":"\u003ctask:success:discrete:False\u003e\npick up a paper glass from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table Q: immediate next step? \u003cPRED\u003eA: pick up a paper glass from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up a paper glass from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pick up a paper glass from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up a paper glass from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up a paper glass from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a paper glass from the table 2- throw a paper glass into dustbin 3- move arm in front of the table 4- pick up the crunched brown paper 5- exit the room with the crunched paper\n\u003c/PRED\u003e","video":"17818994744916139530.mp4"}
+{"uid":"12136269967756919814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"54459549693214405.mp4"}
+{"uid":"12659652030987629634","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2741361326244432544.mp4"}
+{"uid":"636303617566458713","text":"\u003ctask:success:discrete:False\u003e\ntake the can in front of the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room Q: next 5 steps? \u003cPRED\u003eA: 1- take the can in front of the dustbin 2- put the can in dustbin 3- move robot arm toward the table 4- pick up a paper glass from the table 5- take paper glass out of the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake the can in front of the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: take the can in front of the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take the can in front of the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take the can in front of the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room Q: immediate next step? \u003cPRED\u003eA: take the can in front of the dustbin\n\u003c/PRED\u003e","video":"13044411790813176138.mp4"}
+{"uid":"10473091842551407604","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room Q: next 5 steps? \u003cPRED\u003eA: 1- throw a paper glass into dustbin 2- move arm in front of the table 3- pick up the crunched brown paper 4- exit the room with the crunched paper 5- drop the crunched paper in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table. last 20 steps: 1- pick a glass from table 2- take out the can from the room 3- take the can in front of the dustbin 4- put the can in dustbin 5- move robot arm toward the table 6- pick up a paper glass from the table 7- take paper glass out of the room Q: immediate next step? \u003cPRED\u003eA: throw a paper glass into dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow a paper glass into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: throw a paper glass into dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw a paper glass into dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow a paper glass into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw a paper glass into dustbin\n\u003c/PRED\u003e","video":"13213926482133930700.mp4"}
+{"uid":"12349138790410027592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glasses in the glass stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13450983018198961281.mp4"}
+{"uid":"8782756327223279543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room with the tissues Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8284366199477209034.mp4"}
+{"uid":"12601284819646811869","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"17577894625448691818.mp4"}
+{"uid":"15688152194948416342","text":"\u003ctask:success:discrete:True\u003e\nAdjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e","video":"17751222507582307014.mp4"}
+{"uid":"9420588486605043217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"406962056804432.mp4"}
+{"uid":"10434128599724636338","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on the white 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":"3915489801147276700.mp4"}
+{"uid":"12181962894719306993","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the can in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the can in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10662747433466829113.mp4"}
+{"uid":"9374174175995096366","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5931380740338689596.mp4"}
+{"uid":"630339406221405705","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take out the can from the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntake out the can from the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16433198331834380439.mp4"}
+{"uid":"1121440834721014991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16721271381685165518.mp4"}
+{"uid":"9201236211266946955","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the files\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer 3- put candy in the tray 4- arrange the sticky notes 5- put sticky notes on exiting sticky notes 6- arrange the registers Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the files 2- arrange the registers 3- arrange note books 4- arrange notes 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer 3- put candy in the tray 4- arrange the sticky notes 5- put sticky notes on exiting sticky notes 6- arrange the registers Q: immediate next step? \u003cPRED\u003eA: arrange the files\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the files Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the files Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the files\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. Q: immediate next step? \u003cPRED\u003eA: arrange the files\n\u003c/PRED\u003e","video":"5887245794900296988.mp4"}
+{"uid":"12121131206220480528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the light 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\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":"15716412811472083042.mp4"}
+{"uid":"5256406457190083972","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11820321809451556216.mp4"}
+{"uid":"14706772651041462732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the chair into the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16631340104102181396.mp4"}
+{"uid":"14478946687944069312","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Give me a set of pen and post it to write on and my phone Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sticky notes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Give me a set of pen and post it to write on and my phone. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the sticky notes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Give me a set of pen and post it to write on and my phone. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sticky notes on the table 2- Put the black pen on the table 3- Put the blue pen on the table 4- Place the phone to the right side of the table 5- done\n\u003c/PRED\u003e","video":"2310550213525143099.mp4"}
+{"uid":"16925834743731154231","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":"11095433941146730109.mp4"}
+{"uid":"11738914147405156650","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15848032147503534208.mp4"}
+{"uid":"12980225769493993292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1668472354972074372.mp4"}
+{"uid":"34910877059138623","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the registers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the registers\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer 3- put candy in the tray 4- arrange the sticky notes 5- put sticky notes on exiting sticky notes Q: immediate next step? \u003cPRED\u003eA: arrange the registers\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the registers\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer 3- put candy in the tray 4- arrange the sticky notes 5- put sticky notes on exiting sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the registers 2- arrange the files 3- arrange the registers 4- arrange note books 5- arrange notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the registers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. Q: immediate next step? \u003cPRED\u003eA: arrange the registers\n\u003c/PRED\u003e","video":"10095069376823705910.mp4"}
+{"uid":"9264830299099157948","text":"\u003ctask:success:discrete:True\u003e\nPut the paper glass in the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the paper glass in the coffee machine\n\u003c/PRED\u003e","video":"4483283549049593731.mp4"}
+{"uid":"16368345387717892060","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the plastic forks into 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":"7889607969135291150.mp4"}
+{"uid":"7637865594028284059","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper glass in the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper glass in the coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a coffee. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the paper glass in the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the paper glass in the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a coffee. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper glass in the coffee machine 2- Press the button of coffee machine 3- Press the button of coffee machine 4- Press the button of coffee machine 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper glass in the coffee machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a coffee Q: immediate next step? \u003cPRED\u003eA: Put the paper glass in the coffee machine\n\u003c/PRED\u003e","video":"13880325089632446967.mp4"}
+{"uid":"10072291326672441148","text":"\u003ctask:success:discrete:False\u003e\nclose 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: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. Q: immediate next step? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- close drawer 2- close drawer 3- put candy in the tray 4- arrange the sticky notes 5- put sticky notes on exiting sticky notes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose 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":"6626678636712519920.mp4"}
+{"uid":"5482984872213184989","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange notes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer 3- put candy in the tray 4- arrange the sticky notes 5- put sticky notes on exiting sticky notes 6- arrange the registers 7- arrange the files 8- arrange the registers 9- arrange note books Q: immediate next step? \u003cPRED\u003eA: arrange notes\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. Q: immediate next step? \u003cPRED\u003eA: arrange notes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer 3- put candy in the tray 4- arrange the sticky notes 5- put sticky notes on exiting sticky notes 6- arrange the registers 7- arrange the files 8- arrange the registers 9- arrange note books Q: next 5 steps? \u003cPRED\u003eA: 1- arrange notes 2- done\n\u003c/PRED\u003e","video":"863990308917848248.mp4"}
+{"uid":"15911659820411570460","text":"\u003ctask:success:discrete:True\u003e\narrange the registers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the registers\n\u003c/PRED\u003e","video":"7370876578697827723.mp4"}
+{"uid":"4606214216099060954","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the registers\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the registers\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. Q: immediate next step? \u003cPRED\u003eA: arrange the registers\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the registers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer 3- put candy in the tray 4- arrange the sticky notes 5- put sticky notes on exiting sticky notes 6- arrange the registers 7- arrange the files Q: immediate next step? \u003cPRED\u003eA: arrange the registers\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer 3- put candy in the tray 4- arrange the sticky notes 5- put sticky notes on exiting sticky notes 6- arrange the registers 7- arrange the files Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the registers 2- arrange note books 3- arrange notes 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the registers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15772315974294244011.mp4"}
+{"uid":"10609875935302067553","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Give me a set of pen and post it to write on and my phone Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Give me a set of pen and post it to write on and my phone. last 20 steps: 1- Put the sticky notes on the table 2- Put the black pen on the table 3- Put the blue pen on the table 4- Place the phone to the right side of the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the phone to the right side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Give me a set of pen and post it to write on and my phone. last 20 steps: 1- Put the sticky notes on the table 2- Put the black pen on the table 3- Put the blue pen on the table 4- Place the phone to the right side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the phone to the right side of the table\n\u003c/PRED\u003e","video":"15251927161739650403.mp4"}
+{"uid":"7423739609254103831","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a coffee. last 20 steps: 1- Put the paper glass in the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Press the button of coffee machine 2- Press the button of coffee machine 3- Press the button of coffee machine 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a coffee Q: immediate next step? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPress the button of coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a coffee Q: immediate next step? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPress the button of coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a coffee. last 20 steps: 1- Put the paper glass in the coffee machine Q: immediate next step? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a coffee. last 20 steps: 1- Put the paper glass in the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Press the button of coffee machine 2- Press the button of coffee machine 3- Press the button of coffee machine 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPress the button of coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a coffee. last 20 steps: 1- Put the paper glass in the coffee machine Q: immediate next step? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPress the button of coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1444244509858628791.mp4"}
+{"uid":"9758685590886916482","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3030188027823853466.mp4"}
+{"uid":"2015521305200299168","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. Q: immediate next step? \u003cPRED\u003eA: arrange the sticky notes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer 3- put candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the sticky notes 2- put sticky notes on exiting sticky notes 3- arrange the registers 4- arrange the files 5- arrange the registers\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer 3- put candy in the tray Q: immediate next step? \u003cPRED\u003eA: arrange the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the sticky notes\n\u003c/PRED\u003e","video":"3034515281102860946.mp4"}
+{"uid":"14997159122057712852","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":"2467514067958666481.mp4"}
+{"uid":"11343888348263381535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3528784624641122756.mp4"}
+{"uid":"10032058609351491071","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the phone to the right side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Give me a set of pen and post it to write on and my phone. last 20 steps: 1- Put the sticky notes on the table 2- Put the black pen on the table 3- Put the blue pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the phone to the right side of the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the phone to the right side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Give me a set of pen and post it to write on and my phone Q: immediate next step? \u003cPRED\u003eA: Place the phone to the right side of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the phone to the right side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Give me a set of pen and post it to write on and my phone. last 20 steps: 1- Put the sticky notes on the table 2- Put the black pen on the table 3- Put the blue pen on the table Q: immediate next step? \u003cPRED\u003eA: Place the phone to the right side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the phone to the right side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2695949342193156929.mp4"}
+{"uid":"2457920798800628917","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer Q: immediate next step? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. Q: immediate next step? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose 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: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close drawer 2- put candy in the tray 3- arrange the sticky notes 4- put sticky notes on exiting sticky notes 5- arrange the registers\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e","video":"18289834277191212092.mp4"}
+{"uid":"5875721565851401618","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput numi packet on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2043290666958402435.mp4"}
+{"uid":"3454368803734473707","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPress the button of coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a coffee. last 20 steps: 1- Put the paper glass in the coffee machine 2- Press the button of coffee machine 3- Press the button of coffee machine Q: immediate next step? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a coffee. last 20 steps: 1- Put the paper glass in the coffee machine 2- Press the button of coffee machine 3- Press the button of coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Press the button of coffee machine 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a coffee Q: immediate next step? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e","video":"17970409347008566577.mp4"}
+{"uid":"14614017653705156402","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a coffee Q: immediate next step? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPress the button of coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a coffee. last 20 steps: 1- Put the paper glass in the coffee machine 2- Press the button of coffee machine Q: immediate next step? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a coffee. last 20 steps: 1- Put the paper glass in the coffee machine 2- Press the button of coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Press the button of coffee machine 2- Press the button of coffee machine 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Press the button of coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPress the button of coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9457873650047044304.mp4"}
+{"uid":"2872923904528288060","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer 3- put candy in the tray 4- arrange the sticky notes 5- put sticky notes on exiting sticky notes 6- arrange the registers 7- arrange the files 8- arrange the registers Q: immediate next step? \u003cPRED\u003eA: arrange note books\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange note books\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange note books Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. Q: immediate next step? \u003cPRED\u003eA: arrange note books\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer 3- put candy in the tray 4- arrange the sticky notes 5- put sticky notes on exiting sticky notes 6- arrange the registers 7- arrange the files 8- arrange the registers Q: next 5 steps? \u003cPRED\u003eA: 1- arrange note books 2- arrange notes 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange note books Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange note books\n\u003c/PRED\u003e","video":"12454702046367057118.mp4"}
+{"uid":"10821738160064870063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper glass into the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16097467250779070650.mp4"}
+{"uid":"7462696418875361159","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":"967093791264172056.mp4"}
+{"uid":"984113130022758169","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace headphone on the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5454249130495984743.mp4"}
+{"uid":"9729414902517866385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown sugar candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1074894089473350099.mp4"}
+{"uid":"16387065025325315715","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sticky notes on exiting sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sticky notes on exiting sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer 3- put candy in the tray 4- arrange the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- put sticky notes on exiting sticky notes 2- arrange the registers 3- arrange the files 4- arrange the registers 5- arrange note books\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sticky notes on exiting sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. Q: immediate next step? \u003cPRED\u003eA: put sticky notes on exiting sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sticky notes on exiting sticky notes\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer 3- put candy in the tray 4- arrange the sticky notes Q: immediate next step? \u003cPRED\u003eA: put sticky notes on exiting sticky notes\n\u003c/PRED\u003e","video":"12834485008705992768.mp4"}
+{"uid":"793324568814946608","text":"\u003ctask:success:discrete:True\u003e\nPut the blue pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue pen on the table\n\u003c/PRED\u003e","video":"16072415722495912919.mp4"}
+{"uid":"7673021473391840572","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the sticky notes 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":"7748228044423183373.mp4"}
+{"uid":"8838040894539362304","text":"\u003ctask:success:discrete:True\u003e\narrange the files Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the files\n\u003c/PRED\u003e","video":"2414244379740793450.mp4"}
+{"uid":"11681092936463007126","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":"3689603192377243961.mp4"}
+{"uid":"4055480508439582301","text":"\u003ctask:success:discrete:False\u003e\nPut the black pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Give me a set of pen and post it to write on and my phone. last 20 steps: 1- Put the sticky notes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen on the table 2- Put the blue pen on the table 3- Place the phone to the right side of the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Give me a set of pen and post it to write on and my phone Q: immediate next step? \u003cPRED\u003eA: Put the black pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Give me a set of pen and post it to write on and my phone. last 20 steps: 1- Put the sticky notes on the table Q: immediate next step? \u003cPRED\u003eA: Put the black pen on the table\n\u003c/PRED\u003e","video":"9118168129025931684.mp4"}
+{"uid":"7431058445286141514","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer Q: immediate next step? \u003cPRED\u003eA: put candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. last 20 steps: 1- close drawer 2- close drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the tray 2- arrange the sticky notes 3- put sticky notes on exiting sticky notes 4- arrange the registers 5- arrange the files\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Clean up the storage cabinet a bit by closing the drawers and restacking the notebooks. Q: immediate next step? \u003cPRED\u003eA: put candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the tray\n\u003c/PRED\u003e","video":"16658364837406603508.mp4"}
+{"uid":"12504665439844705097","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Give me a set of pen and post it to write on and my phone. last 20 steps: 1- Put the sticky notes on the table 2- Put the black pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen on the table 2- Place the phone to the right side of the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Give me a set of pen and post it to write on and my phone. last 20 steps: 1- Put the sticky notes on the table 2- Put the black pen on the table Q: immediate next step? \u003cPRED\u003eA: Put the blue pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Give me a set of pen and post it to write on and my phone Q: immediate next step? \u003cPRED\u003eA: Put the blue pen on the table\n\u003c/PRED\u003e","video":"8851808258298407742.mp4"}
+{"uid":"15536250940621653351","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11182974443315068388.mp4"}
+{"uid":"10617680836012194673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1739422733058736668.mp4"}
+{"uid":"2277946296233262302","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e","video":"14376848624090198362.mp4"}
+{"uid":"8248680195088924621","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the jar with lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15340747904646359567.mp4"}
+{"uid":"5253675334764218873","text":"\u003ctask:success:discrete:True\u003e\nDrop pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box 6- Drop pen in the box 7- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box 6- Drop pen in the box 7- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4762279960083699748.mp4"}
+{"uid":"7123266501964399037","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1670506143157289705.mp4"}
+{"uid":"17927984042019979530","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop white sugar packet in an organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14846127287313751476.mp4"}
+{"uid":"12377283689413451692","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box 6- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box 6- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7868027595998700324.mp4"}
+{"uid":"10676085725324286407","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange pen in the pen holder 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: Put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the orange pen in the pen holder\n\u003c/PRED\u003e","video":"11538242726176358526.mp4"}
+{"uid":"8941240374897199349","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the penstand 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e","video":"12316871437010298134.mp4"}
+{"uid":"17864272129803026681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange candies into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3317474027584816733.mp4"}
+{"uid":"3416320207828684646","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the penstand 2- Drop pen in the box 3- Drop pen in the box 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e","video":"16099968070515909526.mp4"}
+{"uid":"12276101586766079549","text":"\u003ctask:success:discrete:True\u003e\nDrop pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e","video":"10256526540025665803.mp4"}
+{"uid":"1663412676205672321","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e","video":"15382279744413728645.mp4"}
+{"uid":"3244289521600433260","text":"\u003ctask:success:discrete:True\u003e\nPut the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"9407973768250935258.mp4"}
+{"uid":"736280340592157754","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2101740830109558685.mp4"}
+{"uid":"16611980688705685772","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange pen in the pen holder 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange pen in the pen holder\n\u003c/PRED\u003e","video":"3125163662955766407.mp4"}
+{"uid":"8393208910430086501","text":"\u003ctask:success:discrete:True\u003e\nDrop pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e","video":"2801561650784673746.mp4"}
+{"uid":"9772426414771582418","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box 6- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box 6- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen in the box 2- done\n\u003c/PRED\u003e","video":"8983514020211485956.mp4"}
+{"uid":"8700893560902635358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace blue pen inside the pen stand 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":"9739275668236412546.mp4"}
+{"uid":"12114208534569928381","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the pen holder 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"1262927297869479248.mp4"}
+{"uid":"1354549717466289132","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12599330511839401812.mp4"}
+{"uid":"17608275357551153563","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box 6- Drop pen in the box 7- put the pen in the penstand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box 6- Drop pen in the box 7- put the pen in the penstand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8109773911930708266.mp4"}
+{"uid":"17203802973830100216","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e","video":"12840953690734610917.mp4"}
+{"uid":"13157349039730607979","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6689332707406480193.mp4"}
+{"uid":"3881473238193986120","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2355575949847148744.mp4"}
+{"uid":"18332503569925834924","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- done\n\u003c/PRED\u003e","video":"5372283267134384381.mp4"}
+{"uid":"9866582756080871410","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the upper 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":"12272266709124450177.mp4"}
+{"uid":"981931486584844109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plastic glasse on the top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17165914260603501775.mp4"}
+{"uid":"11800247218359191844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green candy in the bottom part of the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7998679039363190998.mp4"}
+{"uid":"7361962599783455794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut three pink packet into the Organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5968722798168738845.mp4"}
+{"uid":"12908868262764724143","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the pen holder 2- Drop pen in the box 3- Drop pen in the box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2662280517911385927.mp4"}
+{"uid":"13957289297644189230","text":"\u003ctask:success:discrete:True\u003e\nPut the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange pen in the pen holder\n\u003c/PRED\u003e","video":"5187852091160587001.mp4"}
+{"uid":"15882845003987146556","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the red packet into the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11113742845260552800.mp4"}
+{"uid":"17110259433273513150","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e","video":"13531180214583177170.mp4"}
+{"uid":"10006739159768182937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3978740910714372079.mp4"}
+{"uid":"6524717319949384407","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8536033061677646699.mp4"}
+{"uid":"16373074679676661487","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen in the box 2- Drop pen in the box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12143967637636632515.mp4"}
+{"uid":"6638373164028429975","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the tap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6999503349455095323.mp4"}
+{"uid":"7802023757389921336","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":"8777078595553388766.mp4"}
+{"uid":"17273574618549738041","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11443622019586482253.mp4"}
+{"uid":"15376244352283042172","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets 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":"12334973361531720741.mp4"}
+{"uid":"13339442293941895974","text":"\u003ctask:success:discrete:False\u003e\nput the pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the penstand 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e","video":"7661891668953368073.mp4"}
+{"uid":"14733734261234244418","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e","video":"10222336852763381309.mp4"}
+{"uid":"8541558946412375577","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"350035716120836389.mp4"}
+{"uid":"15754351839323026119","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e","video":"10953707911172829980.mp4"}
+{"uid":"2835759289862633594","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box 6- Drop pen in the box 7- Put the blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box 6- Drop pen in the box 7- Put the blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"14252226223132571085.mp4"}
+{"uid":"17975189740748400608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14412006105302010956.mp4"}
+{"uid":"8458615689509989791","text":"\u003ctask:success:discrete:True\u003e\nDrop pen in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pen in the box\n\u003c/PRED\u003e","video":"12996388776595718581.mp4"}
+{"uid":"16917703999982004354","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in penstand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen in penstand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen in penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in penstand 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box\n\u003c/PRED\u003e","video":"17976484161955876075.mp4"}
+{"uid":"231522625333205370","text":"\u003ctask:success:discrete:False\u003e\nPut the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the pen holder 2- Drop pen in the box 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"10962190351475043075.mp4"}
+{"uid":"14883778495939153335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14283134658926164627.mp4"}
+{"uid":"16614820916376534718","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e","video":"10639744224407783980.mp4"}
+{"uid":"11679493990664255732","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e","video":"5769376820594310793.mp4"}
+{"uid":"9646581940848038606","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: Put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange pen in the pen holder 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the orange pen in the pen holder\n\u003c/PRED\u003e","video":"14549969072858680157.mp4"}
+{"uid":"11968816288700448201","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the penstand 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17232051034878712096.mp4"}
+{"uid":"8344776099992815318","text":"\u003ctask:success:discrete:True\u003e\nPut the orange pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange pen in the pen holder\n\u003c/PRED\u003e","video":"7192790465896822792.mp4"}
+{"uid":"247089552854385465","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the belt from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2355564245448749132.mp4"}
+{"uid":"16623172665774644056","text":"\u003ctask:success:discrete:True\u003e\nPut the blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue pen in the pen holder\n\u003c/PRED\u003e","video":"6801949299470516796.mp4"}
+{"uid":"12529030458656035718","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the right file. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5575289044005261043.mp4"}
+{"uid":"10099279004213165992","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"17444968291074760360.mp4"}
+{"uid":"8123235039661076496","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the penstand 2- Drop pen in the box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e","video":"6362862476666709738.mp4"}
+{"uid":"3038914639419835945","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":"10271111414232688351.mp4"}
+{"uid":"4995056115285195027","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box 6- Drop pen in the box Q: immediate next step? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. last 20 steps: 1- Drop pen in the box 2- Drop pen in the box 3- Drop pen in the box 4- Drop pen in the box 5- Drop pen in the box 6- Drop pen in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the penstand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up the pens and place in pen holder. Q: immediate next step? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the penstand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the penstand\n\u003c/PRED\u003e","video":"9749902934766947130.mp4"}
+{"uid":"10449377383075163611","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrag the tray out Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14826104077833955760.mp4"}
+{"uid":"17586740814943417447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace cup in wash basin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5505839494843541667.mp4"}
+{"uid":"758948045906876417","text":"\u003ctask:success:discrete:False\u003e\nput candy in the brown bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the red bowl 2- put candy in the brown bowl 3- put candy in the red bowl 4- put candy in the brown bowl 5- put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the brown bowl 2- put candy in the brown bowl 3- put candy in the red bowl 4- put candy in the brown bowl 5- put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e","video":"1377924257626805326.mp4"}
+{"uid":"5654690067287383869","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7968922794456097365.mp4"}
+{"uid":"15479448252533541046","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put candy in the red bowl 3- put candy in the brown bowl 4- put candy in the red bowl 5- put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"7595596712092878793.mp4"}
+{"uid":"4734484372530531587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the choco ball in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8792560563681659016.mp4"}
+{"uid":"6454678966527754576","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl 8- put candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on the table 2- put red bowl over tissue paper 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl 8- put candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e","video":"16249293607782822244.mp4"}
+{"uid":"7496360205696839642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pista 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":"17081265024080483378.mp4"}
+{"uid":"12696967642049519619","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the  bowl 2- put a tissue paper on the table 3- put red bowl over tissue paper 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the  bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the  bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11095280183792364175.mp4"}
+{"uid":"8177694419996181026","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the brown bowl 2- put candy in the red bowl 3- put a tissue paper on the table 4- put red bowl over tissue paper 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e","video":"16811719640265037039.mp4"}
+{"uid":"16664903846237206116","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1602582810490393947.mp4"}
+{"uid":"13846848170054689227","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the  bowl 2- put candy in the red bowl 3- put candy in the brown bowl 4- put candy in the red bowl 5- put a tissue paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the  bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e","video":"5873342681056956751.mp4"}
+{"uid":"16839116815998374978","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nFill cereals 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":"7616707211177645666.mp4"}
+{"uid":"9087162566282137567","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the white bowl 2- put orange in the bowl 3- put candy in the red bowl 4- put candy in the brown bowl 5- put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put banana in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"48648328708949280.mp4"}
+{"uid":"6408240868719660439","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the white bowl 2- put candy in the red bowl 3- put candy in the brown bowl 4- put candy in the red bowl 5- put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e","video":"6588482288475842784.mp4"}
+{"uid":"15058478811403161766","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":"3340620182433239290.mp4"}
+{"uid":"8624794573728228233","text":"\u003ctask:success:discrete:True\u003e\nput candy in the brown bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e","video":"5842926110775657621.mp4"}
+{"uid":"13874139716620659493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nFold left sleeve Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4482008155656655427.mp4"}
+{"uid":"17844509013581499677","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14953457099235618854.mp4"}
+{"uid":"14937491253517885059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13449749621233931292.mp4"}
+{"uid":"4083835379873128189","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put a tissue paper on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a tissue paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl 8- put candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: put a tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl 8- put candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put a tissue paper on the table 2- put red bowl over tissue paper 3- done\n\u003c/PRED\u003e","video":"7297025626108279274.mp4"}
+{"uid":"5243663271970388146","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":"9104309028579739972.mp4"}
+{"uid":"8853267063781659556","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl 8- put candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue paper on the table 2- put red bowl over tissue paper 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl 8- put candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e","video":"15829275761621199806.mp4"}
+{"uid":"10555999061270713251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7785196655579461097.mp4"}
+{"uid":"10268941985816532760","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the red bowl 2- put candy in the red bowl 3- put candy in the brown bowl 4- put candy in the red bowl 5- put a tissue paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e","video":"15371491697522027819.mp4"}
+{"uid":"11173771925510345447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15054007761050970232.mp4"}
+{"uid":"7110830094917922697","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown bowl on the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown bowl on the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl 8- put candy in the red bowl 9- put a tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown bowl on the tissue 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put brown bowl on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown bowl on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl 8- put candy in the red bowl 9- put a tissue paper on the table Q: immediate next step? \u003cPRED\u003eA: put brown bowl on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown bowl on the tissue\n\u003c/PRED\u003e","video":"16371155919068726747.mp4"}
+{"uid":"9777794742129913697","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16623300211231993134.mp4"}
+{"uid":"11679783679388356276","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the  bowl 2- put candy in the red bowl 3- put a tissue paper on the table 4- put red bowl over tissue paper 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the  bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the  bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e","video":"17221243493553645709.mp4"}
+{"uid":"13179592525542106027","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- put orange in the bowl 3- put candy in the red bowl 4- put candy in the brown bowl 5- put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e","video":"65042558065849732.mp4"}
+{"uid":"14905567819301913901","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e","video":"12592563894371357555.mp4"}
+{"uid":"8775819680924004106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nthrow the bottle into the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"517457719471651910.mp4"}
+{"uid":"15203447788358790073","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\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16992455102457840810.mp4"}
+{"uid":"934184078159142458","text":"\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"9962978305094395393.mp4"}
+{"uid":"1625716410520256534","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15190464302708112477.mp4"}
+{"uid":"6442984426768405030","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the second  blue highlighter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3846585235875256933.mp4"}
+{"uid":"5939938416989864238","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13209921723603876686.mp4"}
+{"uid":"4375777572918221315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1815103824057827875.mp4"}
+{"uid":"5914847629494859177","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the white bowl 2- put candy in the red bowl 3- put candy in the brown bowl 4- put candy in the red bowl 5- put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e","video":"16252741674324413055.mp4"}
+{"uid":"9548367973038129140","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tissue 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":"4776581669966851486.mp4"}
+{"uid":"6544539541071752390","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14882480007069756391.mp4"}
+{"uid":"8139380752277315411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"7612663365447859350.mp4"}
+{"uid":"13191296515916959770","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the red bowl 2- put candy in the brown bowl 3- put candy in the red bowl 4- put a tissue paper on the table 5- put red bowl over tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e","video":"3697607101427970531.mp4"}
+{"uid":"14894986153367303522","text":"\u003ctask:success:discrete:True\u003e\nput a tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a tissue paper on the table\n\u003c/PRED\u003e","video":"1461939128320600551.mp4"}
+{"uid":"10903693406258406010","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the  bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the  bowl 2- put candy in the brown bowl 3- put candy in the red bowl 4- put a tissue paper on the table 5- put red bowl over tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e","video":"6610740558222404383.mp4"}
+{"uid":"1794238407629859678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly move forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9026855644311729820.mp4"}
+{"uid":"5321506291153752766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue pen in the  pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"19965871469100168.mp4"}
+{"uid":"9890529146115725450","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the red bowl 2- put candy in the red bowl 3- put a tissue paper on the table 4- put red bowl over tissue paper 5- done\n\u003c/PRED\u003e","video":"9594110590152002735.mp4"}
+{"uid":"6321764306606041549","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the  bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the  bowl 2- put candy in the brown bowl 3- put candy in the red bowl 4- put candy in the brown bowl 5- put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the  bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the candy in the  bowl\n\u003c/PRED\u003e","video":"17292960624621156759.mp4"}
+{"uid":"11972417930378922375","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bowl on the tissue paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl 8- put candy in the red bowl 9- put a tissue paper on the table Q: immediate next step? \u003cPRED\u003eA: put the bowl on the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put the bowl on the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bowl on 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bowl on the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl 8- put candy in the red bowl 9- put a tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the bowl on the tissue paper 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bowl on 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","video":"6080564278282699044.mp4"}
+{"uid":"11156658203058739020","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2143310906265569401.mp4"}
+{"uid":"17821040934019706778","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the red bowl 2- put a tissue paper on the table 3- put red bowl over tissue paper 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the red bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e","video":"10757452732736107485.mp4"}
+{"uid":"16629847161294320161","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the toffee 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":"3925344779921234351.mp4"}
+{"uid":"104808041054602064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the lid of the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"448292038302346784.mp4"}
+{"uid":"15500726660817820792","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput red bowl over 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl 8- put candy in the red bowl 9- put a tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put red bowl over tissue paper 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red bowl over tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put red bowl over tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red bowl over tissue paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl 8- put candy in the red bowl 9- put a tissue paper on the table Q: immediate next step? \u003cPRED\u003eA: put red bowl over tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red bowl over 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","video":"9458512539384299578.mp4"}
+{"uid":"12620379482006243095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candies 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":"1600328668697293662.mp4"}
+{"uid":"14246888593631538580","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the brown bowl 2- put candy in the brown bowl 3- put candy in the red bowl 4- put a tissue paper on the table 5- put red bowl over tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e","video":"17330789451969675782.mp4"}
+{"uid":"3518532224651128345","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put candy in the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput candy in the red bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2339240274344688458.mp4"}
+{"uid":"7873714561653196967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange on the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1056543382989216738.mp4"}
+{"uid":"3994083921889289591","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the brown bowl 2- put candy in the red bowl 3- put candy in the brown bowl 4- put candy in the red bowl 5- put a tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e","video":"1714350658648615559.mp4"}
+{"uid":"12078194378351265671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16956780599542653999.mp4"}
+{"uid":"3615129146632153421","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- put orange in the white bowl 2- put banana in the white bowl 3- put orange in the bowl 4- put candy in the red bowl 5- put candy in the brown bowl 6- put candy in the red bowl 7- put candy in the brown bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the brown bowl 2- put a tissue paper on the table 3- put red bowl over tissue paper 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the brown bowl\n\u003c/PRED\u003e","video":"12786432627690934304.mp4"}
+{"uid":"3603055765923206374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from 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":"21843487315630637.mp4"}
+{"uid":"16011598872625484653","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e","video":"5406835771109993409.mp4"}
+{"uid":"3201016446123552340","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- place packet in the cotton box 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"12714912201592188737.mp4"}
+{"uid":"8067883171102103734","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box 14- place packets in the cotton box 15- put white packets in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box 14- place packets in the cotton box 15- put white packets in the cardboard box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15092055221145557881.mp4"}
+{"uid":"5648660658438904536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5021134570739838091.mp4"}
+{"uid":"12890187269410482138","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"8409690322036457615.mp4"}
+{"uid":"13241613652721994269","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- done\n\u003c/PRED\u003e","video":"3244357917310561094.mp4"}
+{"uid":"3526804466626476753","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box 14- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box 14- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10771509118624560392.mp4"}
+{"uid":"9923455622722270282","text":"\u003ctask:success:discrete:True\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e","video":"2548378352602789500.mp4"}
+{"uid":"15874832431991614535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the sugar candy in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1095204862403072312.mp4"}
+{"uid":"5985007745861749410","text":"\u003ctask:success:discrete:True\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"17658283624898204273.mp4"}
+{"uid":"1550336218506791896","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9538947367596899451.mp4"}
+{"uid":"7708088439630146711","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e","video":"9121054255643658018.mp4"}
+{"uid":"6946791509245422949","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the spoons into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the green ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10361439348752817191.mp4"}
+{"uid":"11703792054449963683","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packets in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e","video":"5773923394402959800.mp4"}
+{"uid":"4385705218006282737","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packets in the cotton box 2- place packet in the cotton box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6844199069098155789.mp4"}
+{"uid":"16802345007959264400","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16763641163915700407.mp4"}
+{"uid":"8470254578014857368","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box 14- place packets in the cotton box 15- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box 14- place packets in the cotton box 15- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11146879530884777167.mp4"}
+{"uid":"2380530351414692898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace numi bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11312616331446602325.mp4"}
+{"uid":"9782589421618821843","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2623233568700594507.mp4"}
+{"uid":"8961217185304733005","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13925478467772401923.mp4"}
+{"uid":"17533810379064545334","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13667167461381405001.mp4"}
+{"uid":"6247212841487546401","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15210489598174871109.mp4"}
+{"uid":"13927667797374165334","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packets in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18396062243553258591.mp4"}
+{"uid":"14537024584788165700","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e","video":"10020127927830686162.mp4"}
+{"uid":"6526250693266879625","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4129591555502554871.mp4"}
+{"uid":"16618010990144728932","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e","video":"13008430845223343091.mp4"}
+{"uid":"4496028493558295156","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":"13142450979182405028.mp4"}
+{"uid":"3611918745940000058","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic fork into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2487836660928327596.mp4"}
+{"uid":"18048604453699363252","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- place packets in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- done\n\u003c/PRED\u003e","video":"1680542512987534342.mp4"}
+{"uid":"429212958722043752","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the orange object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5194042600817757056.mp4"}
+{"uid":"11668294276255915390","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a white bag in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1733391371972611371.mp4"}
+{"uid":"7797524134497493041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick a bunch of cups from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13343448220820671011.mp4"}
+{"uid":"5732458271421270241","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box 14- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box 14- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5092634729172998147.mp4"}
+{"uid":"13407792847960623143","text":"\u003ctask:success:discrete:False\u003e\nPut the silver packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packets in the box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e","video":"12951849946198044133.mp4"}
+{"uid":"811524737925601473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13857036279674604016.mp4"}
+{"uid":"5175616408964882794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8183359173924118353.mp4"}
+{"uid":"3575939526307953563","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"8315581629386759356.mp4"}
+{"uid":"15512931882279765549","text":"\u003ctask:success:discrete:True\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box 14- place packets in the cotton box 15- Put the silver packet in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box 14- place packets in the cotton box 15- Put the silver packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10912236726781775122.mp4"}
+{"uid":"7687153325328783477","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the belt 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":"18278320937203505867.mp4"}
+{"uid":"18054434302123422005","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packets in the box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e","video":"8928913516014882159.mp4"}
+{"uid":"7064565087001557029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange candy in right side cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16185969375572474450.mp4"}
+{"uid":"3194012014566987885","text":"\u003ctask:success:discrete:False\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"10228910752273896437.mp4"}
+{"uid":"12531723247657065994","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the black can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16207547781748217571.mp4"}
+{"uid":"743756617057116336","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the silver packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1137434751098263339.mp4"}
+{"uid":"18349056523137869086","text":"\u003ctask:success:discrete:True\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"1786976787518919140.mp4"}
+{"uid":"1974021521024416190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork in forks holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"399522004756609174.mp4"}
+{"uid":"13604653695798718439","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packets in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"5658012609955147703.mp4"}
+{"uid":"18411193812709952564","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"6007881536991361673.mp4"}
+{"uid":"17095798413183655685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstand the glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5774307187882797620.mp4"}
+{"uid":"9519074520286279219","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the silver packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"11390627407649721643.mp4"}
+{"uid":"2001681591596306877","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packets in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5399144076945379059.mp4"}
+{"uid":"8340166205803871607","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packets in the box 2- place packet in the cotton box 3- done\n\u003c/PRED\u003e","video":"4829152768331513606.mp4"}
+{"uid":"16954269931810784950","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9185091850795738542.mp4"}
+{"uid":"9969115894508504208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange 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":"16022029858926895027.mp4"}
+{"uid":"8611551470864511779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the glass jar lid put it on the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12864431220319873675.mp4"}
+{"uid":"9463971283815418513","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11324389890077205351.mp4"}
+{"uid":"15996553029467932146","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e","video":"16676375255222927745.mp4"}
+{"uid":"5820411350604340139","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the sticky notes 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":"14970815473331460738.mp4"}
+{"uid":"10640006536000039145","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packets in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"11718309817470032948.mp4"}
+{"uid":"13989311265463901936","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packets in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17565653106206874276.mp4"}
+{"uid":"9182459567175823666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the purple 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":"13533642193285757420.mp4"}
+{"uid":"16148072217157994075","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packets in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"5962025775638158100.mp4"}
+{"uid":"10867326020736674399","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packets in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"16235210104873876954.mp4"}
+{"uid":"2844644913473492543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green  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":"7637651974156283635.mp4"}
+{"uid":"10133563696952362801","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packets in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11717871227728843056.mp4"}
+{"uid":"1955582907043098243","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packets in the box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packets in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5142488614445327297.mp4"}
+{"uid":"13490850866104986157","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packets in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"1037666547118608645.mp4"}
+{"uid":"7203186926059739943","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2552407881744197451.mp4"}
+{"uid":"5076152358654216293","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packets in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10639224203222434215.mp4"}
+{"uid":"9312658406917520201","text":"\u003ctask:success:discrete:False\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- place packet in the cotton box 3- place packets in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"2513883340579543071.mp4"}
+{"uid":"16474749239538035836","text":"\u003ctask:success:discrete:False\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"7892943679390878320.mp4"}
+{"uid":"13708380894763380556","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14512019334930899323.mp4"}
+{"uid":"11584231687708142406","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic forks in the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3202659374494918509.mp4"}
+{"uid":"5519768652383101008","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a spoon in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2581857861175931824.mp4"}
+{"uid":"1013579379113717298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pear 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":"16927917304918684659.mp4"}
+{"uid":"372083937651084137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the coat rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8347187921143133724.mp4"}
+{"uid":"12104158355311903868","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e","video":"1524943140116935885.mp4"}
+{"uid":"8008971130683027168","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":"13906768701073212430.mp4"}
+{"uid":"7758499286214798876","text":"\u003ctask:success:discrete:True\u003e\nPut the silver packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e","video":"18316880334304471998.mp4"}
+{"uid":"17834955302662870752","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fruits on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4312032877540087818.mp4"}
+{"uid":"5993919193191434594","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packets in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"12875617719948006835.mp4"}
+{"uid":"14049758642616686232","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":"14954106889762207233.mp4"}
+{"uid":"4118727593374198399","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packets in the box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packets in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e","video":"15066354907161826428.mp4"}
+{"uid":"16498940546206454616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUnstack the coffee cup lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1128258659225265970.mp4"}
+{"uid":"6033130174880986405","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16633582317752883633.mp4"}
+{"uid":"343158798238686531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the plastic glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11733034071286086753.mp4"}
+{"uid":"13107425024915773147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15895541208287924075.mp4"}
+{"uid":"10255724087768825431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17513705816045941929.mp4"}
+{"uid":"11147248142504210270","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4789805720780705528.mp4"}
+{"uid":"3442393571424520577","text":"\u003ctask:success:discrete:False\u003e\nPut the silver packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box 14- place packets in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box 13- place packets in the cotton box 14- place packets in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"5441040399248089996.mp4"}
+{"uid":"6744746795710569036","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14000470331400530287.mp4"}
+{"uid":"8856166832520904429","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput container on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11173167096453038580.mp4"}
+{"uid":"27211116713429711","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packets in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packets in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packets in the cardboard box 2- place packets in the cotton box 3- place packet in the cotton box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packets in the cardboard box\n\u003c/PRED\u003e","video":"13347876008125816001.mp4"}
+{"uid":"1751539849935645086","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the cardboard box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2202372826348740009.mp4"}
+{"uid":"996645969141906252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15629497530347413422.mp4"}
+{"uid":"13962185356243818262","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the packets into the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the silver packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the silver packets in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the packets into the box. last 20 steps: 1- place packets in the cotton box 2- place packets in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packets in the cotton box 6- place packet in the cotton box 7- place packets in the cotton box 8- place packet in the cotton box 9- place packet in the cotton box 10- place packet in the cotton box 11- place packet in the cotton box 12- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packets in the box 2- place packets in the cotton box 3- place packet in the cotton box 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the silver packets in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3418259393760736462.mp4"}
+{"uid":"9976551282159951322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10911382304656175870.mp4"}
+{"uid":"426355786406941600","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4106452934776919445.mp4"}
+{"uid":"5522347120515526383","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the 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":"17486176599211832196.mp4"}
+{"uid":"6953369473142296053","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":"8104162594386179565.mp4"}
+{"uid":"1763378369352922722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1237767866820187729.mp4"}
+{"uid":"1951186916765884170","text":"\u003ctask:success:discrete:True\u003e\npick up the paper container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the paper container\n\u003c/PRED\u003e","video":"5767325581264422164.mp4"}
+{"uid":"11800494725150553856","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the plastic box in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the plastic box in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the plastic box in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the plastic box in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: throw the plastic box in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box Q: immediate next step? \u003cPRED\u003eA: throw the plastic box in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box Q: next 5 steps? \u003cPRED\u003eA: 1- throw the plastic box in the trash bin 2- drop paper into glass 3- pickup glass 4- drop the cups in the bin 5- done\n\u003c/PRED\u003e","video":"9362316821113234689.mp4"}
+{"uid":"6221372941405647526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput two bags 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":"15079428378446912659.mp4"}
+{"uid":"10160642945384826805","text":"\u003ctask:success:discrete:True\u003e\nleave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e","video":"13393595239845051577.mp4"}
+{"uid":"2478991327073070285","text":"\u003ctask:success:discrete:True\u003e\nthrow the can in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the can in the trash bin\n\u003c/PRED\u003e","video":"2308164075277836903.mp4"}
+{"uid":"13716080668117157579","text":"\u003ctask:success:discrete:True\u003e\ndrop the cups in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cups in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass 9- pickup glass 10- drop the cups in the bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass 9- pickup glass 10- drop the cups in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17788115956001334553.mp4"}
+{"uid":"18150061690032188899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8288018564725241018.mp4"}
+{"uid":"3309423078661043622","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the  bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16272793804801226117.mp4"}
+{"uid":"11490683917982101039","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can Q: next 5 steps? \u003cPRED\u003eA: 1- leave the room 2- pick up the paper container 3- pickup lunch box 4- leave the room with paper box 5- throw the plastic box in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e","video":"13815462027625051458.mp4"}
+{"uid":"17414524563959444713","text":"\u003ctask:success:discrete:True\u003e\npick up tin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 tin\n\u003c/PRED\u003e","video":"18174354330456610902.mp4"}
+{"uid":"10667244889420640867","text":"\u003ctask:success:discrete:True\u003e\ndrop paper into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop paper into glass\n\u003c/PRED\u003e","video":"15215348226355042340.mp4"}
+{"uid":"16921517214561747926","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop glass into bustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass 9- pickup glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop glass into bustbin 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop glass into bustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: drop glass into bustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop glass into bustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass 9- pickup glass Q: immediate next step? \u003cPRED\u003eA: drop glass into bustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop glass into bustbin\n\u003c/PRED\u003e","video":"4589556537940410377.mp4"}
+{"uid":"6458351647372660889","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass 9- pickup glass Q: next 5 steps? \u003cPRED\u003eA: 1- throw the cups in the trash bin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the cups in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the cups in the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: throw the cups in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the cups in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the cups in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass 9- pickup glass Q: immediate next step? \u003cPRED\u003eA: throw the cups in the trash bin\n\u003c/PRED\u003e","video":"8770083755099927777.mp4"}
+{"uid":"16630299320837915926","text":"\u003ctask:success:discrete:True\u003e\ndrop glass into bustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass 9- pickup glass 10- drop glass into bustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass 9- pickup glass 10- drop glass into bustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop glass into bustbin\n\u003c/PRED\u003e","video":"15051706822878853093.mp4"}
+{"uid":"12655807012633151772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15283868468688735156.mp4"}
+{"uid":"11145308188757030513","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"18056433678762607410.mp4"}
+{"uid":"10932618813292960442","text":"\u003ctask:success:discrete:True\u003e\npick up the tin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 tin\n\u003c/PRED\u003e","video":"4567712150226959508.mp4"}
+{"uid":"10518933149241598392","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin Q: immediate next step? \u003cPRED\u003eA: put the paper in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: put the paper in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper in the cup 2- drop the cups in the bin 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18420367404979977338.mp4"}
+{"uid":"15586190049640263223","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can Q: immediate next step? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can Q: next 5 steps? \u003cPRED\u003eA: 1- move forward 2- throw the can in the trash bin 3- pick up the paper container 4- pickup lunch box 5- leave the room with paper box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e","video":"8810497177777289548.mp4"}
+{"uid":"9278583400033448732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the toffee in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12013327092000742069.mp4"}
+{"uid":"7142722136515636319","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop tin into dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop tin into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop tin into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can Q: next 5 steps? \u003cPRED\u003eA: 1- drop tin into dustbin 2- pick up the paper container 3- pickup lunch box 4- leave the room with paper box 5- throw the plastic box in the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: drop tin into dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop tin into dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can Q: immediate next step? \u003cPRED\u003eA: drop tin into dustbin\n\u003c/PRED\u003e","video":"6906522596130982128.mp4"}
+{"uid":"18340243653779891148","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2605330399169415069.mp4"}
+{"uid":"18204454092792993688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4036655074096126473.mp4"}
+{"uid":"12892530687066102475","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box Q: next 5 steps? \u003cPRED\u003eA: 1- leave the room 2- drop paper into glass 3- pickup glass 4- drop the cups in the bin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e","video":"5846048191244412768.mp4"}
+{"uid":"7156353230412785469","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave the room with two cups\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nleave the room with two cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7789227750392918218.mp4"}
+{"uid":"18230420985597597079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPull the tray outside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11595696129678802665.mp4"}
+{"uid":"16939444903050671744","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave the room with can\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nleave the room with can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2146007797739273443.mp4"}
+{"uid":"213748588799994035","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the paper container 2- leave the room with paper box 3- throw the plastic box in the trash bin 4- drop paper into glass 5- pickup glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the paper container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin Q: immediate next step? \u003cPRED\u003eA: pick up the paper container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the paper container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the paper container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pick up the paper container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the paper container\n\u003c/PRED\u003e","video":"14665025898990331619.mp4"}
+{"uid":"16568101539412681898","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: drop the paper container in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper container in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the paper container in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper container in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box Q: immediate next step? \u003cPRED\u003eA: drop the paper container in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper container in the bin 2- drop paper into glass 3- pickup glass 4- drop the cups in the bin 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper container in the bin\n\u003c/PRED\u003e","video":"15315393352523210101.mp4"}
+{"uid":"11603370475372940002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8573018492052577002.mp4"}
+{"uid":"3743226212359511304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1018105866774049777.mp4"}
+{"uid":"10393824622369285669","text":"\u003ctask:success:discrete:True\u003e\nput the tissue in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tissue in the cup\n\u003c/PRED\u003e","video":"8848755243324089059.mp4"}
+{"uid":"2343376427910640779","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: put the tissue in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue in the cup 2- drop the cups in the bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin Q: immediate next step? \u003cPRED\u003eA: put the tissue in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue in the cup\n\u003c/PRED\u003e","video":"6312129919764982847.mp4"}
+{"uid":"17137195979697312315","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cups in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass 9- pickup glass Q: immediate next step? \u003cPRED\u003eA: drop the cups in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cups in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cups in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cups in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass 9- pickup glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cups in the bin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: drop the cups in the bin\n\u003c/PRED\u003e","video":"4285184928808893893.mp4"}
+{"uid":"14767900127448993604","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box\n\u003c/PRED\u003e","video":"14248350819956762449.mp4"}
+{"uid":"16193934811007538922","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass 9- pickup glass 10- throw the cups in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the cups in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass 9- pickup glass 10- throw the cups in the trash bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the cups in the trash bin\n\u003c/PRED\u003e","video":"15842994872076784670.mp4"}
+{"uid":"13266257633713215958","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the plastic box in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the plastic box in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11206757586357347154.mp4"}
+{"uid":"17433365728137670908","text":"\u003ctask:success:discrete:True\u003e\npick up the paper container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the paper container\n\u003c/PRED\u003e","video":"9422191608332313634.mp4"}
+{"uid":"14932656316044347695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3007189585593534618.mp4"}
+{"uid":"7001197218550387892","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":"10991641981183102585.mp4"}
+{"uid":"5685474165077812177","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 tin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tin 2- throw the can in the trash bin 3- pick up the paper container 4- pickup lunch box 5- leave the room with paper box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the tin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pick up the tin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tin\n\u003c/PRED\u003e","video":"6165596187582133833.mp4"}
+{"uid":"14676917246164708206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange packet on tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4786375962714566915.mp4"}
+{"uid":"14441907304186488242","text":"\u003ctask:success:discrete:True\u003e\ndrop tin into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop tin into dustbin\n\u003c/PRED\u003e","video":"11146617368813324127.mp4"}
+{"uid":"433242796342196078","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npickup lunch box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin Q: immediate next step? \u003cPRED\u003eA: pickup lunch box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup lunch box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- pickup lunch box 2- leave the room with paper box 3- throw the plastic box in the trash bin 4- drop paper into glass 5- pickup glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pickup lunch box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup lunch box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup lunch box\n\u003c/PRED\u003e","video":"4250906598572318662.mp4"}
+{"uid":"11725686912843512833","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nleave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5696285985696212449.mp4"}
+{"uid":"6306489938195031849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17341755791117450860.mp4"}
+{"uid":"4895061769621905981","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: throw the can in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can Q: immediate next step? \u003cPRED\u003eA: throw the can in the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the can in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can Q: next 5 steps? \u003cPRED\u003eA: 1- throw the can in the trash bin 2- pick up the paper container 3- pickup lunch box 4- leave the room with paper box 5- throw the plastic box in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the can in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow the can in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the can in the trash bin\n\u003c/PRED\u003e","video":"5695684158100723970.mp4"}
+{"uid":"2835658614646836311","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box Q: immediate next step? \u003cPRED\u003eA: leave the room with paper box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: leave the room with paper box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box Q: next 5 steps? \u003cPRED\u003eA: 1- leave the room with paper box 2- throw the plastic box in the trash bin 3- drop paper into glass 4- pickup glass 5- drop the cups in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the room with paper box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave the room with paper box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave the room with paper box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave the room with paper box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17892317098213138804.mp4"}
+{"uid":"10893925889105158381","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pick up the cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cups 2- drop the cups in the bin 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass Q: immediate next step? \u003cPRED\u003eA: pick up the cups\n\u003c/PRED\u003e","video":"6435419158050850457.mp4"}
+{"uid":"11953923245620604679","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a stikcy 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":"2374337811591931929.mp4"}
+{"uid":"17980712477724954893","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10918106272340347607.mp4"}
+{"uid":"15204246026820616299","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pick up the paper container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the paper container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the paper container 2- leave the room with paper box 3- throw the plastic box in the trash bin 4- drop paper into glass 5- pickup glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the paper container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the paper container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container Q: immediate next step? \u003cPRED\u003eA: pick up the paper container\n\u003c/PRED\u003e","video":"15653072835580549415.mp4"}
+{"uid":"1139555477372209632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput caps 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":"6097827432141768498.mp4"}
+{"uid":"6183327383947721318","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1102988819988489835.mp4"}
+{"uid":"2886580417437637534","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6511018618816468706.mp4"}
+{"uid":"6352200712510509277","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nleave the room with can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave the room with can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave the room with can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the room with can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can Q: next 5 steps? \u003cPRED\u003eA: 1- leave the room with can 2- throw the can in the trash bin 3- pick up the paper container 4- pickup lunch box 5- leave the room with paper box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: leave the room with can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can Q: immediate next step? \u003cPRED\u003eA: leave the room with can\n\u003c/PRED\u003e","video":"3404323732841209181.mp4"}
+{"uid":"957815345181928814","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pick up tin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up tin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 tin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up tin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up tin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up tin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up tin 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box\n\u003c/PRED\u003e","video":"1865336389084035434.mp4"}
+{"uid":"11638485940297529850","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nleave the room with two cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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\nleave the room with two cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass Q: next 5 steps? \u003cPRED\u003eA: 1- leave the room with two cups 2- drop the cups in the bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave the room with two cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin 8- drop paper into glass Q: immediate next step? \u003cPRED\u003eA: leave the room with two cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the room with two cups\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: leave the room with two cups\n\u003c/PRED\u003e","video":"14541469296214607930.mp4"}
+{"uid":"1299948342190296640","text":"\u003ctask:success:discrete:True\u003e\npickup lunch box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup lunch box\n\u003c/PRED\u003e","video":"13897037326856033862.mp4"}
+{"uid":"14875306422529438991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"252187463973404851.mp4"}
+{"uid":"17966788199600153360","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":"6559936336655288450.mp4"}
+{"uid":"4843116200451417569","text":"\u003ctask:success:discrete:True\u003e\npick up the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 cups\n\u003c/PRED\u003e","video":"268808461657320954.mp4"}
+{"uid":"14931332163175540947","text":"\u003ctask:success:discrete:False\u003e\ndrop the tin in the  bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tin in the  bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tin in the  bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tin in the  bin 2- pick up the paper container 3- pickup lunch box 4- leave the room with paper box 5- throw the plastic box in the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: drop the tin in the  bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tin in the  bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can Q: immediate next step? \u003cPRED\u003eA: drop the tin in the  bin\n\u003c/PRED\u003e","video":"1151325074398268613.mp4"}
+{"uid":"8903390069804031731","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up paper box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up paper box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1865256796299676918.mp4"}
+{"uid":"18019884020586036157","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the tin in the  bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the tin in the  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":"5090678805089355730.mp4"}
+{"uid":"13554246160813075878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9755753651014141656.mp4"}
+{"uid":"14582559815157589196","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: drop paper into glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop paper into glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper into glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper into glass 2- drop the cups in the bin 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper into glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin Q: immediate next step? \u003cPRED\u003eA: drop paper into glass\n\u003c/PRED\u003e","video":"13772843675875803985.mp4"}
+{"uid":"7180724954669173455","text":"\u003ctask:success:discrete:True\u003e\nleave the room with paper box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave the room with paper box\n\u003c/PRED\u003e","video":"17401239950111745449.mp4"}
+{"uid":"3621798133863162355","text":"\u003ctask:success:discrete:True\u003e\nput the paper in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper in the cup\n\u003c/PRED\u003e","video":"4033747266823059550.mp4"}
+{"uid":"14400774373154086982","text":"\u003ctask:success:discrete:False\u003e\npick up paper box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin Q: immediate next step? \u003cPRED\u003eA: pick up paper box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up paper box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up paper box 2- leave the room with paper box 3- throw the plastic box in the trash bin 4- drop paper into glass 5- pickup glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up paper box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pick up paper box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up paper box\n\u003c/PRED\u003e","video":"2247261119582235401.mp4"}
+{"uid":"16220172580780227820","text":"\u003ctask:success:discrete:True\u003e\ndrop the paper container in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the paper container in the bin\n\u003c/PRED\u003e","video":"9409085909736345166.mp4"}
+{"uid":"9220301716919965447","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin Q: immediate next step? \u003cPRED\u003eA: pickup glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table. last 20 steps: 1- pick up the can 2- leave the room with can 3- throw the can in the trash bin 4- pick up the paper container 5- pickup lunch box 6- leave the room with paper box 7- throw the plastic box in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- pickup glass 2- drop the cups in the bin 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please throw away all the trash at the end of the table Q: immediate next step? \u003cPRED\u003eA: pickup glass\n\u003c/PRED\u003e","video":"15451093837691393813.mp4"}
+{"uid":"13345553241425309601","text":"\u003ctask:success:discrete:False\u003e\nput spoon in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: put spoon in left cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put spoon in left cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in left cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in left cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in left cup 2- Place the forks in the right side cup 3- place spoon in the holder 4- place orange packet in the tray 5- Place the orange packet in order\n\u003c/PRED\u003e","video":"3878758270548485538.mp4"}
+{"uid":"11493096598085638332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass upside right on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3820762325431481020.mp4"}
+{"uid":"17997773093678017108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"822408662460468756.mp4"}
+{"uid":"12990798112531525403","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1999563951404496084.mp4"}
+{"uid":"14803733656250034816","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange packet in the tray 2- Place the orange packet in order 3- place pipcorn packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"673885539940894468.mp4"}
+{"uid":"610467849378041067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8326389909396182869.mp4"}
+{"uid":"16489533289608111526","text":"\u003ctask:success:discrete:True\u003e\nplace forks in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place forks in the holder\n\u003c/PRED\u003e","video":"15746890800100934358.mp4"}
+{"uid":"9778479689126603016","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder Q: immediate next step? \u003cPRED\u003eA: Place the forks in the right side cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the forks in the right side cup 2- place spoon in the holder 3- place orange packet in the tray 4- Place the orange packet in order 5- place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the forks in the right side cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the forks in the right side cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the forks in the right side cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: Place the forks in the right side cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the forks in the right side cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13037201056577308766.mp4"}
+{"uid":"14188753928229311090","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14108019678081147750.mp4"}
+{"uid":"10673676890970248414","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon in the holder 2- place orange packet in the tray 3- Place the orange packet in order 4- place pipcorn packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace spoon in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15154585246508895449.mp4"}
+{"uid":"13904644325396661836","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3765025237431875346.mp4"}
+{"uid":"8255601998183691146","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- adjust packet in tray 2- place pipcorn packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: adjust packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: adjust packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5596377695459742096.mp4"}
+{"uid":"5255413935697246888","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7804704515274614849.mp4"}
+{"uid":"3929475104848935765","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up forks 2- place spoon in the holder 3- place orange packet in the tray 4- Place the orange packet in order 5- place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up forks\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up forks\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder Q: immediate next step? \u003cPRED\u003eA: pick up forks\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: pick up forks\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up forks Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up forks Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17084138136695298039.mp4"}
+{"uid":"14947575066919245625","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put spoons in left cup 2- Place the forks in the right side cup 3- place spoon in the holder 4- place orange packet in the tray 5- Place the orange packet in order\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put spoons in left cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: put spoons in left cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoons in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoons in left cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoons in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoons in left cup\n\u003c/PRED\u003e","video":"7012219770190689962.mp4"}
+{"uid":"2054720858826900596","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16757574184352376603.mp4"}
+{"uid":"4992834296729982742","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPull the orange packet up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6686193739747928686.mp4"}
+{"uid":"16202368749569887621","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet in the tray 2- Place the orange packet in order 3- place pipcorn packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2512715304278180040.mp4"}
+{"uid":"11503047241268778693","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon in left cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput spoon in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10070319120937583145.mp4"}
+{"uid":"6257586690374455428","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: Place the spoons in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder Q: immediate next step? \u003cPRED\u003eA: Place the spoons in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoons in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the spoons in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the spoons in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the spoons in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoons in the cup 2- Place the forks in the right side cup 3- place spoon in the holder 4- place orange packet in the tray 5- Place the orange packet in order\n\u003c/PRED\u003e","video":"2062818426782042503.mp4"}
+{"uid":"14249610012663038899","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the forks in the right side cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the forks in the right side cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4185419409247814314.mp4"}
+{"uid":"12600481596639747409","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in tray 2- Place the orange packet in order 3- place pipcorn packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder Q: immediate next step? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e","video":"10582579103220653612.mp4"}
+{"uid":"10346231468027707360","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoons in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace spoon in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace spoons 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 put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place spoons in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoons in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: place spoons in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace spoons 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 put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place spoons in the holder 2- Place the forks in the right side cup 3- place spoon in the holder 4- place orange packet in the tray 5- Place the orange packet in order\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e","video":"6864248641361143379.mp4"}
+{"uid":"13204494834470794983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13984326206974607290.mp4"}
+{"uid":"859305982343786918","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16586989546320037783.mp4"}
+{"uid":"8032550299490489131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep 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":"9313868365996556397.mp4"}
+{"uid":"3531046969408525023","text":"\u003ctask:success:discrete:True\u003e\nplace orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet in the tray\n\u003c/PRED\u003e","video":"2375270825686477527.mp4"}
+{"uid":"4674838252234023423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the pink marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2636811896716401589.mp4"}
+{"uid":"8261613606213715484","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put forks in right cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput forks in right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9227333222130135137.mp4"}
+{"uid":"1470646674574499652","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10364869830499508020.mp4"}
+{"uid":"8304191078361226003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the toy apple from the orange bowl. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4812364520229793452.mp4"}
+{"uid":"3176193992068727335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12094149864562899643.mp4"}
+{"uid":"3792226213048774136","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray 6- Place the orange packet in order Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray 6- Place the orange packet in order Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15058302947683817820.mp4"}
+{"uid":"16827131514431229142","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut lunchbox into the dustbin. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16771768185364563043.mp4"}
+{"uid":"9257773623383959575","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray 6- Place the orange packet in order 7- place pipcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray 6- Place the orange packet in order 7- place pipcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray 6- Place the orange packet in order 7- Place the popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray 6- Place the orange packet in order 7- Place the popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1997212234234037827.mp4"}
+{"uid":"14190981382811394491","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace spoon in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17001530609907293516.mp4"}
+{"uid":"13380268496310595038","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray 6- Place the orange packet in order Q: immediate next step? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray 6- Place the orange packet in order Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in tray 2- done\n\u003c/PRED\u003e","video":"17197970013597969374.mp4"}
+{"uid":"15855967529496748019","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoons in left cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput spoons in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"735359159064108001.mp4"}
+{"uid":"10143406429976919236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4953305524025545911.mp4"}
+{"uid":"10214682998858264862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndraw i on paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16863080648321090070.mp4"}
+{"uid":"17292744238089153656","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace spoon in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e","video":"2992570283596875163.mp4"}
+{"uid":"9103601133365134640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6968551367451253357.mp4"}
+{"uid":"13185002845900404692","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place spoons in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace spoons 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":"5261331273771447364.mp4"}
+{"uid":"2836063676059880132","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: put forks in right cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put forks in right cup 2- place spoon in the holder 3- place orange packet in the tray 4- Place the orange packet in order 5- place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put forks in right cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put forks in right cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder Q: immediate next step? \u003cPRED\u003eA: put forks in right cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput forks in right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput forks in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2840005145137274415.mp4"}
+{"uid":"7981265834382824529","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray 6- Place the orange packet in order 7- put packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray 6- Place the orange packet in order 7- put packet in tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in tray\n\u003c/PRED\u003e","video":"18384572100691072774.mp4"}
+{"uid":"15079441983222243933","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoon in the cup 2- place orange packet in the tray 3- Place the orange packet in order 4- place pipcorn packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17079018505670785987.mp4"}
+{"uid":"1793567207978884157","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in order\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange packet in order\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange packet in order 2- place pipcorn packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in order\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange packet in order\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange packet in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange packet in order Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1362923002660352702.mp4"}
+{"uid":"14634947765944743707","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8166734823802213525.mp4"}
+{"uid":"5796161422405754634","text":"\u003ctask:success:discrete:True\u003e\nput spoon in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put spoon in left cup\n\u003c/PRED\u003e","video":"146035874946300722.mp4"}
+{"uid":"7609668486063286804","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder Q: immediate next step? \u003cPRED\u003eA: place forks in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace forks 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 put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place forks in the holder 2- place spoon in the holder 3- place orange packet in the tray 4- Place the orange packet in order 5- place pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up forks\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: place forks in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up forks Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place forks in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place forks in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace forks 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":"9965842353605158338.mp4"}
+{"uid":"11486403836557009367","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoon in the cup 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e","video":"1313468440179588048.mp4"}
+{"uid":"2724780349618011411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3520894931892682856.mp4"}
+{"uid":"13728448735531838848","text":"\u003ctask:success:discrete:False\u003e\nPlace the popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray 6- Place the orange packet in order Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup 4- place spoon in the holder 5- place orange packet in the tray 6- Place the orange packet in order Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e","video":"5265523705687177438.mp4"}
+{"uid":"550589015363283816","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the spoons in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the spoons in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3595870303573332049.mp4"}
+{"uid":"8854438853195762558","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15619100381647927772.mp4"}
+{"uid":"7388200690274517336","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow candy on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13799171031380206537.mp4"}
+{"uid":"18157667166335649214","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in left cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup Q: immediate next step? \u003cPRED\u003eA: put spoon in left cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin? Q: immediate next step? \u003cPRED\u003eA: put spoon in left cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put away the plastic utensils to their assigned cups, then can you put away the chips on the counter into the green bin?. last 20 steps: 1- place spoon in the holder 2- place spoons in the holder 3- Place the forks in the right side cup Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in left cup 2- place orange packet in the tray 3- Place the orange packet in order 4- place pipcorn packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in left cup\n\u003c/PRED\u003e","video":"8040052079923398729.mp4"}
+{"uid":"7012366604984237291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove cup to table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4472722608290354670.mp4"}
+{"uid":"124161417747138015","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the corn pops 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":"18036144564431220293.mp4"}
+{"uid":"6437588851408035503","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray 7- keep glass on flat surface 8- keep glass on flat surface Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray 7- keep glass on flat surface 8- keep glass on flat surface Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep glass on flat surface Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6869949827274937451.mp4"}
+{"uid":"14964806871540058441","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: place glass in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray Q: immediate next step? \u003cPRED\u003eA: place glass in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace glass in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place glass in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place glass in a tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace glass in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place glass in a tray\n\u003c/PRED\u003e","video":"5769807568926685637.mp4"}
+{"uid":"9832194040952636241","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep blue ball in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep blue ball in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10972507479267386241.mp4"}
+{"uid":"7577036695739597782","text":"\u003ctask:success:discrete:True\u003e\nkeep orange ball in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep orange ball in glass\n\u003c/PRED\u003e","video":"1141712340695471069.mp4"}
+{"uid":"15992212499551347182","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue ball in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue ball in the cup 2- put the green ball in the cup 3- put the yellow ball in the cup 4- place the cup in the tray 5- place the cup in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue ball in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass Q: immediate next step? \u003cPRED\u003eA: put the blue ball in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue ball in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue ball in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: put the blue ball in the cup\n\u003c/PRED\u003e","video":"14078056783593116200.mp4"}
+{"uid":"391946609763200454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pink 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":"10406414010373913936.mp4"}
+{"uid":"17542948870136737330","text":"\u003ctask:success:discrete:True\u003e\nkeep green ball in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep green ball in glass\n\u003c/PRED\u003e","video":"13733090330306592254.mp4"}
+{"uid":"6819250434257391092","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18398016665161940263.mp4"}
+{"uid":"6515582090280158578","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer 6- close the middle drawer 7- open the middle drawer 8- place the pink candy on the counter 9- close the middle drawer 10- pick up the pink candy 11- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink candy on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: put the pink candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer 6- close the middle drawer 7- open the middle drawer 8- place the pink candy on the counter 9- close the middle drawer 10- pick up the pink candy 11- exit the room Q: immediate next step? \u003cPRED\u003eA: put the pink candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink candy on the table\n\u003c/PRED\u003e","video":"14640988834756425763.mp4"}
+{"uid":"3624345009944885279","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer 6- close the middle drawer 7- open the middle drawer 8- place the pink candy on the counter 9- close the middle drawer 10- pick up the pink candy Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- put the pink candy on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer 6- close the middle drawer 7- open the middle drawer 8- place the pink candy on the counter 9- close the middle drawer 10- pick up the pink candy Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1658001546385546215.mp4"}
+{"uid":"15713601888817247673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8578164925507536605.mp4"}
+{"uid":"2885573779069211423","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14103151556427104249.mp4"}
+{"uid":"7893743045883696235","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray 7- keep glass on flat surface Q: immediate next step? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray 7- keep glass on flat surface Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e","video":"14021088438822555282.mp4"}
+{"uid":"12820925733873501658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace  blue pen in the  pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7955972021460570705.mp4"}
+{"uid":"3413683237993574369","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep glass on flat surface Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14754899440192180199.mp4"}
+{"uid":"8971298280479721070","text":"\u003ctask:success:discrete:False\u003e\nplace the glass in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup Q: immediate next step? \u003cPRED\u003eA: place the glass in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass in a tray 2- place the cup in the tray 3- keep glass on flat surface 4- place the cup in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass in a tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: place the glass in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13675595210167255310.mp4"}
+{"uid":"8282727222359589947","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pink candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer 6- close the middle drawer 7- open the middle drawer 8- place the pink candy on the counter 9- close the middle drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pink candy 2- exit the room 3- put the pink candy on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer 6- close the middle drawer 7- open the middle drawer 8- place the pink candy on the counter 9- close the middle drawer Q: immediate next step? \u003cPRED\u003eA: pick up the pink candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the pink candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pink candy\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pink candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pink candy\n\u003c/PRED\u003e","video":"2278630886242157409.mp4"}
+{"uid":"7324827162353433347","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pistachio nut in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12634441698011221276.mp4"}
+{"uid":"12629475108352918925","text":"\u003ctask:success:discrete:True\u003e\nkeep yellow ball in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep yellow ball in glass\n\u003c/PRED\u003e","video":"7126811082201072509.mp4"}
+{"uid":"8054231823193614664","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput two candies 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":"17499384617803203647.mp4"}
+{"uid":"7059187403083190443","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep yellow ball in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep yellow ball in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- keep yellow ball in glass 2- place the cup in the tray 3- keep glass on flat surface 4- place the cup in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep yellow ball in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: keep yellow ball in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup Q: immediate next step? \u003cPRED\u003eA: keep yellow ball in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep yellow ball in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1991259487614097158.mp4"}
+{"uid":"13301765059460851189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the orange marker into the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1392336002417224247.mp4"}
+{"uid":"15756203313980661485","text":"\u003ctask:success:discrete:False\u003e\nclose the middle 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: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer 6- close the middle drawer 7- open the middle drawer 8- place the pink candy on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- close the middle drawer 2- pick up the pink candy 3- exit the room 4- put the pink candy on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the middle drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: close the middle drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the middle drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the middle 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: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer 6- close the middle drawer 7- open the middle drawer 8- place the pink candy on the counter Q: immediate next step? \u003cPRED\u003eA: close the middle drawer\n\u003c/PRED\u003e","video":"4402475757118008891.mp4"}
+{"uid":"6752420985041206967","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange ball in a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place orange ball in a glass 2- put the green ball in the cup 3- put the yellow ball in the cup 4- place the cup in the tray 5- place the cup in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange ball in a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place orange ball in a glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange ball in a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange ball in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: place orange ball in a glass\n\u003c/PRED\u003e","video":"15239270197216653015.mp4"}
+{"uid":"9314297498743432500","text":"\u003ctask:success:discrete:True\u003e\nplace a blue ball in a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a blue ball in a glass\n\u003c/PRED\u003e","video":"2809120095139875692.mp4"}
+{"uid":"8165100309801604165","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4643646252045063170.mp4"}
+{"uid":"3055119622333252889","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please throw away the cup and bowl into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nThrow the paper cup in the recyclebin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw the paper cup in the recyclebin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the cup and bowl into the compostables bin. last 20 steps: 1- Throw the plastic glass in the recyclebin 2- Throw the paper cup in the recyclebin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the cup and bowl into the compostables bin. last 20 steps: 1- Throw the plastic glass in the recyclebin 2- Throw the paper cup in the recyclebin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11481801236820863116.mp4"}
+{"uid":"17331519195191562572","text":"\u003ctask:success:discrete:True\u003e\nput the yellow ball in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow ball in the cup\n\u003c/PRED\u003e","video":"3645220542940775233.mp4"}
+{"uid":"10267657293685102688","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup in the tray 2- keep glass on flat surface 3- place the cup in the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray Q: immediate next step? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5261142397507258446.mp4"}
+{"uid":"11260495780684572390","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place glass in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace glass in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray Q: immediate next step? \u003cPRED\u003eA: place glass in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace glass in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: place glass in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place glass in a tray 2- keep glass on flat surface 3- place the cup in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place glass in a tray\n\u003c/PRED\u003e","video":"12855006993335891765.mp4"}
+{"uid":"11163330188020493763","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green ball in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green ball in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup Q: immediate next step? \u003cPRED\u003eA: put the green ball in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green ball in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the green ball in the cup 2- put the yellow ball in the cup 3- place the cup in the tray 4- place the cup in the tray 5- keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: put the green ball in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green ball in the cup\n\u003c/PRED\u003e","video":"11490568250304522561.mp4"}
+{"uid":"12231160092556605911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove pen stand 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":"3342330196851100954.mp4"}
+{"uid":"17757319531129180772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace an 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":"3414066526947075872.mp4"}
+{"uid":"3331033686105489725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2033946143983493102.mp4"}
+{"uid":"13861714325648759905","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer Q: immediate next step? \u003cPRED\u003eA: put the packet into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet into the drawer 2- close the middle drawer 3- open the middle drawer 4- place the pink candy on the counter 5- close the middle drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: put the packet into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet into the drawer\n\u003c/PRED\u003e","video":"9285601135944114972.mp4"}
+{"uid":"16101214100746334174","text":"\u003ctask:success:discrete:True\u003e\nplace the pink candy on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 pink candy on the counter\n\u003c/PRED\u003e","video":"5835776744201929233.mp4"}
+{"uid":"11079813509040330575","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink candy on the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink candy on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer 6- close the middle drawer 7- open the middle drawer Q: immediate next step? \u003cPRED\u003eA: place the pink candy on the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink candy on the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer 6- close the middle drawer 7- open the middle drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink candy on the counter 2- close the middle drawer 3- pick up the pink candy 4- exit the room 5- put the pink candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink candy on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: place the pink candy on the counter\n\u003c/PRED\u003e","video":"552512598538263204.mp4"}
+{"uid":"5414667050764718791","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep glass on flat surface Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray 7- keep glass on flat surface Q: immediate next step? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray 7- keep glass on flat surface Q: next 5 steps? \u003cPRED\u003eA: 1- keep glass on flat surface 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e","video":"9544079854641984683.mp4"}
+{"uid":"14194968160892309180","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":"1139435720992290830.mp4"}
+{"uid":"10484464449149582995","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room 2- place the packet on the counter 3- open the middle drawer 4- put the packet into the drawer 5- close the middle drawer\n\u003c/PRED\u003e","video":"10317960780426896893.mp4"}
+{"uid":"12940083154024268476","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- keep green ball in glass 2- place the cup in the tray 3- place the cup in the tray 4- keep glass on flat surface 5- place the cup in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: keep green ball in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup Q: immediate next step? \u003cPRED\u003eA: keep green ball in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep green ball in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep green ball in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep green ball in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep green ball in glass\n\u003c/PRED\u003e","video":"108786775867244536.mp4"}
+{"uid":"14724270599099280279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6825747427456574568.mp4"}
+{"uid":"3930728325346235431","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- keep glass on flat surface 2- place the cup in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep glass on flat surface Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray Q: immediate next step? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e","video":"835644198710179066.mp4"}
+{"uid":"11277977888215980735","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput strawberry 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":"1554152998529786659.mp4"}
+{"uid":"16953826893595835127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic knife on the backside table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5047276417295407824.mp4"}
+{"uid":"1082421459732919895","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass Q: next 5 steps? \u003cPRED\u003eA: 1- keep blue ball in glass 2- put the green ball in the cup 3- put the yellow ball in the cup 4- place the cup in the tray 5- place the cup in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep blue ball in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep blue ball in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep blue ball in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass Q: immediate next step? \u003cPRED\u003eA: keep blue ball in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep blue ball in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: keep blue ball in glass\n\u003c/PRED\u003e","video":"15914395671880393768.mp4"}
+{"uid":"2566694684713336282","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray Q: immediate next step? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep glass on flat surface Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- keep glass on flat surface 2- keep glass on flat surface 3- place the cup in the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e","video":"10547209065256683595.mp4"}
+{"uid":"7095407857332511684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the red packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17344619436020897050.mp4"}
+{"uid":"11971224596061764137","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15292869462245356168.mp4"}
+{"uid":"18197697901014911921","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the glass in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2619343701242603001.mp4"}
+{"uid":"5632746449460180930","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":"17573411633449538870.mp4"}
+{"uid":"4152855990189760820","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the middle drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the middle 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":"16154536187886016914.mp4"}
+{"uid":"14894055866710645377","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17191209639361035800.mp4"}
+{"uid":"12879229094667296528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the stacys 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":"18331259090199737710.mp4"}
+{"uid":"17295049769774152246","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass Q: next 5 steps? \u003cPRED\u003eA: 1- place a blue ball in a glass 2- put the yellow ball in the cup 3- place the cup in the tray 4- place the cup in the tray 5- keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a blue ball in a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: place a blue ball in a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a blue ball in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a blue ball in a glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a blue ball in a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass Q: immediate next step? \u003cPRED\u003eA: place a blue ball in a glass\n\u003c/PRED\u003e","video":"3014415967309685586.mp4"}
+{"uid":"14889153197937866088","text":"\u003ctask:success:discrete:True\u003e\nkeep glass on flat surface Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e","video":"9722633049854894900.mp4"}
+{"uid":"16256420573867066569","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange ball in a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange ball in a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15871617404080772750.mp4"}
+{"uid":"7364339960096417860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3961711250307595589.mp4"}
+{"uid":"11762437270214349588","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer 6- close the middle drawer 7- open the middle drawer 8- place the pink candy on the counter 9- close the middle drawer 10- pick up the pink candy 11- exit the room 12- put the pink candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer 6- close the middle drawer 7- open the middle drawer 8- place the pink candy on the counter 9- close the middle drawer 10- pick up the pink candy 11- exit the room 12- put the pink candy on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pink candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pink candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1158571064521725453.mp4"}
+{"uid":"16116811390128795588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass on existing glass stack 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":"6006046281863640711.mp4"}
+{"uid":"1993994868928569247","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the middle drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer Q: immediate next step? \u003cPRED\u003eA: close the middle drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: close the middle drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the middle 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: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the middle drawer 2- open the middle drawer 3- place the pink candy on the counter 4- close the middle drawer 5- pick up the pink candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the middle drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the middle drawer\n\u003c/PRED\u003e","video":"18270126419640340396.mp4"}
+{"uid":"5203503713790976338","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17917575560294947341.mp4"}
+{"uid":"13174313269624683466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace box into 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":"6658291963766822200.mp4"}
+{"uid":"8153897225783846449","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: keep orange ball in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep orange ball in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep orange ball in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep orange ball in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep orange ball in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: keep orange ball in glass\n\u003c/PRED\u003e","video":"9007241221531409220.mp4"}
+{"uid":"5999387507529988000","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the orange ball in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: put the orange ball in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange ball in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange ball in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange ball in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange ball in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange ball in the cup 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray\n\u003c/PRED\u003e","video":"2411058864443725295.mp4"}
+{"uid":"11991186489427611451","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: place a yellow ball in a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a yellow ball in a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a yellow ball in a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup Q: immediate next step? \u003cPRED\u003eA: place a yellow ball in a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a yellow ball in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place a yellow ball in a glass 2- place the cup in the tray 3- keep glass on flat surface 4- place the cup in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a yellow ball in a glass\n\u003c/PRED\u003e","video":"5071504255079958955.mp4"}
+{"uid":"9954310751996056598","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace glass in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray 7- keep glass on flat surface Q: immediate next step? \u003cPRED\u003eA: place glass in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray 7- keep glass on flat surface Q: next 5 steps? \u003cPRED\u003eA: 1- place glass in a tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: place glass in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place glass in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place glass in a tray\n\u003c/PRED\u003e","video":"14747347352219908157.mp4"}
+{"uid":"3000952563537553242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink 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":"12278795262832908824.mp4"}
+{"uid":"8019706539136419486","text":"\u003ctask:success:discrete:False\u003e\nplace the packet on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the counter\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: place the packet on the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the counter 2- open the middle drawer 3- put the packet into the drawer 4- close the middle drawer 5- open the middle drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room Q: immediate next step? \u003cPRED\u003eA: place the packet on the counter\n\u003c/PRED\u003e","video":"1544563503679842786.mp4"}
+{"uid":"3633833666574769738","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":"10038366924581938260.mp4"}
+{"uid":"12246854611701405184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5856846675887048564.mp4"}
+{"uid":"17096864550200922252","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green ball in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green ball in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5772624517205452992.mp4"}
+{"uid":"6663395884601900428","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"892495703028525118.mp4"}
+{"uid":"9581875400242850003","text":"\u003ctask:success:discrete:True\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"14149210437881221277.mp4"}
+{"uid":"1444433968302592663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1801596785562079646.mp4"}
+{"uid":"1712369481306894375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9306242882479015651.mp4"}
+{"uid":"2778503575253253398","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray 7- keep glass on flat surface 8- place the cup in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray 7- keep glass on flat surface 8- place the cup in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4378470431767100289.mp4"}
+{"uid":"16085389858424690831","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray Q: immediate next step? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup in the tray 2- place the cup in the tray 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e","video":"12761116376042435998.mp4"}
+{"uid":"12447549429214107641","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace glass in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray 7- place glass in a tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray 7- place glass in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place glass in a tray\n\u003c/PRED\u003e","video":"15745717376552682717.mp4"}
+{"uid":"12887333406779931439","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a soap box in a white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10081153138424393902.mp4"}
+{"uid":"13855821023573453457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10862792580368386811.mp4"}
+{"uid":"9615628848545269552","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray 7- keep glass on flat surface 8- place glass in a tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place glass in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace glass in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup 5- place the cup in the tray 6- place the cup in the tray 7- keep glass on flat surface 8- place glass in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1154917890739866375.mp4"}
+{"uid":"6278387677115195769","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11995619791848034145.mp4"}
+{"uid":"9537326145296426955","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange ball in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange ball in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16890026737431657396.mp4"}
+{"uid":"5416422085687023467","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16174366079834025025.mp4"}
+{"uid":"17270260924292056278","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nenter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12641712429223315143.mp4"}
+{"uid":"13819911379512011326","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep glass on flat surface Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup Q: immediate next step? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup 4- put the yellow ball in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- keep glass on flat surface 2- place the cup in the tray 3- keep glass on flat surface 4- place the cup in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep glass on flat surface Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8557689866538272704.mp4"}
+{"uid":"16472841988411789099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink packet inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4329879066834957690.mp4"}
+{"uid":"6592945987191747660","text":"\u003ctask:success:discrete:False\u003e\nopen the middle 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: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: open the middle drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the middle drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the middle 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: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- open the middle drawer 2- put the packet into the drawer 3- close the middle drawer 4- open the middle drawer 5- place the pink candy on the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the middle drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter Q: immediate next step? \u003cPRED\u003eA: open the middle drawer\n\u003c/PRED\u003e","video":"284972973235311528.mp4"}
+{"uid":"6547965876032780762","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the packets 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":"17486212702962002515.mp4"}
+{"uid":"9586592793276950364","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"1175546345493652137.mp4"}
+{"uid":"7634720985365886694","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer 6- close the middle drawer Q: immediate next step? \u003cPRED\u003eA: open the middle drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the middle drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the middle drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: open the middle drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the middle 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: I ordered a wrong cookies can you put it back and grab me a laffy taffy from MK kitchen to my desk. last 20 steps: 1- pick up the packet 2- enter the room 3- place the packet on the counter 4- open the middle drawer 5- put the packet into the drawer 6- close the middle drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the middle drawer 2- place the pink candy on the counter 3- close the middle drawer 4- pick up the pink candy 5- exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the middle 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":"5795872811213086944.mp4"}
+{"uid":"8966831327507458551","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw the plastic glass in the recyclebin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nThrow the plastic glass in the recyclebin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5096757731330834046.mp4"}
+{"uid":"13896537352485419017","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the ball in a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the ball in a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16108235811393858813.mp4"}
+{"uid":"11519779736668582889","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep glass on flat surface\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep glass on flat surface Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1891908379652477265.mp4"}
+{"uid":"15434477572985062059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace toy blocks in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6120985365382178387.mp4"}
+{"uid":"13132929365377909572","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup in the tray 2- place the cup in the tray 3- keep glass on flat surface 4- place the cup in the tray 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup Q: immediate next step? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup in the tray\n\u003c/PRED\u003e","video":"16724134322305278136.mp4"}
+{"uid":"10981802782551241825","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the brush 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":"10007780771592745703.mp4"}
+{"uid":"17410372057533837599","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup Q: immediate next step? \u003cPRED\u003eA: put the yellow ball in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: put the yellow ball in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow ball in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow ball in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow ball in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow ball in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup 3- put the green ball in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow ball in the cup 2- place the cup in the tray 3- keep glass on flat surface 4- place the cup in the tray 5- done\n\u003c/PRED\u003e","video":"7900304081002127322.mp4"}
+{"uid":"13387819838494406150","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray Q: immediate next step? \u003cPRED\u003eA: place the ball in a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the ball in a glass 2- place the cup in the tray 3- place the cup in the tray 4- keep glass on flat surface 5- place the cup in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the ball in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the ball in a glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the ball in a glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put balls into the cups and cups into the tray. last 20 steps: 1- keep orange ball in glass 2- put the blue ball in the cup Q: immediate next step? \u003cPRED\u003eA: place the ball in a glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the ball in a glass\n\u003c/PRED\u003e","video":"4222584552472607837.mp4"}
+{"uid":"17640297829628320388","text":"\u003ctask:success:discrete:True\u003e\nput the blue ball in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue ball in the cup\n\u003c/PRED\u003e","video":"2867159186615712241.mp4"}
+{"uid":"17219778765425458462","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow the paper cup in the recyclebin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the cup and bowl into the compostables bin. last 20 steps: 1- Throw the plastic glass in the recyclebin Q: immediate next step? \u003cPRED\u003eA: Throw the paper cup in the recyclebin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please throw away the cup and bowl into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: Throw the paper cup in the recyclebin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw the paper cup in the recyclebin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw the paper cup in the recyclebin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow the paper cup in the recyclebin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the cup and bowl into the compostables bin. last 20 steps: 1- Throw the plastic glass in the recyclebin Q: next 5 steps? \u003cPRED\u003eA: 1- Throw the paper cup in the recyclebin 2- done\n\u003c/PRED\u003e","video":"1995037645564891881.mp4"}
+{"uid":"10143962262325589564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput another toffee 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":"6358600883925963918.mp4"}
+{"uid":"13215372104749438723","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white blue packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12230573082334013456.mp4"}
+{"uid":"8952526868212732077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13020281306946090969.mp4"}
+{"uid":"1383809347129643046","text":"\u003ctask:success:discrete:True\u003e\nput blue marker on board frame Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue marker on board frame\n\u003c/PRED\u003e","video":"16789636753711380070.mp4"}
+{"uid":"17482348329648441461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13827034270411753279.mp4"}
+{"uid":"7658240942663042041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"183662605357611144.mp4"}
+{"uid":"6869836473254634773","text":"\u003ctask:success:discrete:True\u003e\nput red marker on board frame Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 red marker on board frame\n\u003c/PRED\u003e","video":"10100591395157808903.mp4"}
+{"uid":"13565724357164542800","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place pear on the table Q: immediate next step? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pear on the table 2- place apple on the table 3- place pear on the table 4- place pear on the table 5- place apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e","video":"4160010337987004029.mp4"}
+{"uid":"7780859782832533385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"13202352576620346911.mp4"}
+{"uid":"4851136761147798539","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place pear on the table 4- place pear on the table 5- place apple on the table 6- place pear on the table Q: immediate next step? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place pear on the table 4- place pear on the table 5- place apple on the table 6- place pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pear on the table 2- place apple on the table 3- place pear on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e","video":"4293880388581866608.mp4"}
+{"uid":"6069576317823672206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red can in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12055374666994990963.mp4"}
+{"uid":"10466907775805593528","text":"\u003ctask:success:discrete:False\u003e\nplace apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place pear on the table 4- place pear on the table 5- place apple on the table 6- place pear on the table 7- place pear on the table Q: immediate next step? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place pear on the table 4- place pear on the table 5- place apple on the table 6- place pear on the table 7- place pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place apple on the table 2- place pear on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e","video":"10463264540137427939.mp4"}
+{"uid":"15210381086057339002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the scrub packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14572506610132786885.mp4"}
+{"uid":"5595763860277820872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a white chpped spoon in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5577075285215320739.mp4"}
+{"uid":"2590224250431662034","text":"\u003ctask:success:discrete:False\u003e\nput red marker on board frame Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 red marker on board frame\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red marker on board frame Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 take the markers and place them by the whiteboard. last 20 steps: 1- put blue marker on board frame Q: next 5 steps? \u003cPRED\u003eA: 1- put red marker on board frame 2- put green marker on board frame 3- put black marker on board frame 4- erase board using duster 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you take the markers and place them by the whiteboard Q: immediate next step? \u003cPRED\u003eA: put red marker on board frame\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you take the markers and place them by the whiteboard. last 20 steps: 1- put blue marker on board frame Q: immediate next step? \u003cPRED\u003eA: put red marker on board frame\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red marker on board frame\n\u003c/PRED\u003e","video":"11458006909750051341.mp4"}
+{"uid":"15443016997149885726","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place pear on the table 4- place pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place apple on the table 2- place pear on the table 3- place pear on the table 4- place apple on the table 5- place pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place pear on the table 4- place pear on the table Q: immediate next step? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e","video":"8576003533513050436.mp4"}
+{"uid":"5016345365350162114","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the scissors in the top shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14359989198694978306.mp4"}
+{"uid":"14937281361951204475","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table Q: immediate next step? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pear on the table 2- place pear on the table 3- place apple on the table 4- place pear on the table 5- place pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3586823457981353518.mp4"}
+{"uid":"18077661515298638208","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue marker on board frame Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 marker on board frame\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you take the markers and place them by the whiteboard Q: immediate next step? \u003cPRED\u003eA: put blue marker on board frame\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue marker on board frame\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue marker on board frame Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 take the markers and place them by the whiteboard. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put blue marker on board frame\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you take the markers and place them by the whiteboard. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue marker on board frame 2- put red marker on board frame 3- put green marker on board frame 4- put black marker on board frame 5- erase board using duster\n\u003c/PRED\u003e","video":"2937214300294740056.mp4"}
+{"uid":"6270996981658273111","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput green marker on board frame Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 take the markers and place them by the whiteboard. last 20 steps: 1- put blue marker on board frame 2- put red marker on board frame Q: next 5 steps? \u003cPRED\u003eA: 1- put green marker on board frame 2- put black marker on board frame 3- erase board using duster 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green marker on board frame\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green marker on board frame Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 take the markers and place them by the whiteboard. last 20 steps: 1- put blue marker on board frame 2- put red marker on board frame Q: immediate next step? \u003cPRED\u003eA: put green marker on board frame\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green marker on board frame\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you take the markers and place them by the whiteboard Q: immediate next step? \u003cPRED\u003eA: put green marker on board frame\n\u003c/PRED\u003e","video":"1244051429096005739.mp4"}
+{"uid":"15178985941655068002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange  white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9328277029060875339.mp4"}
+{"uid":"13749279444982557965","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput black marker on board frame Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 take the markers and place them by the whiteboard Q: immediate next step? \u003cPRED\u003eA: put black marker on board frame\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black marker on board frame\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black marker on board frame\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you take the markers and place them by the whiteboard. last 20 steps: 1- put blue marker on board frame 2- put red marker on board frame 3- put green marker on board frame Q: next 5 steps? \u003cPRED\u003eA: 1- put black marker on board frame 2- erase board using duster 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you take the markers and place them by the whiteboard. last 20 steps: 1- put blue marker on board frame 2- put red marker on board frame 3- put green marker on board frame Q: immediate next step? \u003cPRED\u003eA: put black marker on board frame\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black marker on board frame Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9962508139201166653.mp4"}
+{"uid":"5461630306373659383","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place pear on the table 4- place pear on the table 5- place apple on the table 6- place pear on the table 7- place pear on the table 8- place apple on the table Q: immediate next step? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place pear on the table 4- place pear on the table 5- place apple on the table 6- place pear on the table 7- place pear on the table 8- place apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pear on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8482755685349885719.mp4"}
+{"uid":"17221775598250153212","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace apple 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":"6093880746939695623.mp4"}
+{"uid":"3132581673591072432","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place apple on the table 2- place pear on the table 3- place pear on the table 4- place apple on the table 5- place pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table Q: immediate next step? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place apple on the table\n\u003c/PRED\u003e","video":"844120108452205270.mp4"}
+{"uid":"15813128178537360076","text":"\u003ctask:success:discrete:True\u003e\nplace pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e","video":"14730323680719019872.mp4"}
+{"uid":"11125089443240859697","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow peer in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9660929091337608081.mp4"}
+{"uid":"5058903079233853157","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black marker on board frame\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput black marker on board frame Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1510910007799747782.mp4"}
+{"uid":"6618782741360251867","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place pear on the table 4- place pear on the table 5- place apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pear on the table 2- place pear on the table 3- place apple on the table 4- place pear on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- place apple on the table 2- place apple on the table 3- place pear on the table 4- place pear on the table 5- place apple on the table Q: immediate next step? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8652514310528905320.mp4"}
+{"uid":"16334994748667236737","text":"\u003ctask:success:discrete:False\u003e\nerase board using duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: erase board using duster\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you take the markers and place them by the whiteboard. last 20 steps: 1- put blue marker on board frame 2- put red marker on board frame 3- put green marker on board frame 4- put black marker on board frame Q: immediate next step? \u003cPRED\u003eA: erase board using duster\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you take the markers and place them by the whiteboard. last 20 steps: 1- put blue marker on board frame 2- put red marker on board frame 3- put green marker on board frame 4- put black marker on board frame Q: next 5 steps? \u003cPRED\u003eA: 1- erase board using duster 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nerase board using duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: erase board using duster\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you take the markers and place them by the whiteboard Q: immediate next step? \u003cPRED\u003eA: erase board using duster\n\u003c/PRED\u003e","video":"1410564028230142746.mp4"}
+{"uid":"2995755525464852180","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: erase board using duster\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you take the markers and place them by the whiteboard Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you take the markers and place them by the whiteboard. last 20 steps: 1- put blue marker on board frame 2- put red marker on board frame 3- put green marker on board frame 4- put black marker on board frame 5- erase board using duster Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nerase board using duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you take the markers and place them by the whiteboard. last 20 steps: 1- put blue marker on board frame 2- put red marker on board frame 3- put green marker on board frame 4- put black marker on board frame 5- erase board using duster Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17330049329586519581.mp4"}
+{"uid":"8524752564510488304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pencil 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":"2064027298085007065.mp4"}
+{"uid":"13973798160165366344","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop cup into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2443516235555020754.mp4"}
+{"uid":"17009208225909957347","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1399807901396421904.mp4"}
+{"uid":"4474423360027219515","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put green marker on board frame\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput green marker on board frame Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6387226606555217688.mp4"}
+{"uid":"5931164833784198499","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15411867922808917273.mp4"}
+{"uid":"13579676197179011755","text":"\u003ctask:success:discrete:False\u003e\nplace the orange bottle on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places. last 20 steps: 1- place the holder on the mat 2- place the glass bottle on the mat 3- place the glass bottle on the mat Q: immediate next step? \u003cPRED\u003eA: place the orange bottle on the mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places. last 20 steps: 1- place the holder on the mat 2- place the glass bottle on the mat 3- place the glass bottle on the mat Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange bottle on the mat 2- place the black bottle on the mat 3- place the golden bottle on the mat 4- place the honey bottle on the mat 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange bottle on the mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange bottle on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places Q: immediate next step? \u003cPRED\u003eA: place the orange bottle on the mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange bottle on the mat\n\u003c/PRED\u003e","video":"1234889952794688529.mp4"}
+{"uid":"8959341658233125024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the tape holder to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9593854413853177723.mp4"}
+{"uid":"3803967484340936280","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10980254938789350198.mp4"}
+{"uid":"5685271441615314128","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17416014526729918851.mp4"}
+{"uid":"17150725674370877379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10009248892747310612.mp4"}
+{"uid":"6223593817093675922","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a bean in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up Q: next 5 steps? \u003cPRED\u003eA: 1- Put a bean in the cup 2- Put the nut in plastic cup 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up Q: immediate next step? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e","video":"6145757123332331407.mp4"}
+{"uid":"17268214113161809814","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places Q: immediate next step? \u003cPRED\u003eA: place the honey bottle on the mat\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the honey bottle on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places. last 20 steps: 1- place the holder on the mat 2- place the glass bottle on the mat 3- place the glass bottle on the mat 4- place the orange bottle on the mat 5- place the black bottle on the mat 6- place the golden bottle on the mat Q: immediate next step? \u003cPRED\u003eA: place the honey bottle on the mat\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the honey bottle on the mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the honey bottle on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places. last 20 steps: 1- place the holder on the mat 2- place the glass bottle on the mat 3- place the glass bottle on the mat 4- place the orange bottle on the mat 5- place the black bottle on the mat 6- place the golden bottle on the mat Q: next 5 steps? \u003cPRED\u003eA: 1- place the honey bottle on the mat 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the honey bottle on the mat\n\u003c/PRED\u003e","video":"7186243038703189200.mp4"}
+{"uid":"10776692560510371420","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8444237908551603022.mp4"}
+{"uid":"11625314553455025092","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in cup 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4362174158376983391.mp4"}
+{"uid":"12996924004414924616","text":"\u003ctask:success:discrete:True\u003e\nPut a bean in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e","video":"12061728666805057676.mp4"}
+{"uid":"4275760120336881106","text":"\u003ctask:success:discrete:False\u003e\nrotate the arm Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- rotate the arm 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrotate the arm Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: rotate the arm\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: rotate the arm\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: rotate the arm\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: rotate the arm\n\u003c/PRED\u003e","video":"442145635340921199.mp4"}
+{"uid":"14163457268071700353","text":"\u003ctask:success:discrete:False\u003e\nput cup in upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put cup in upright 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put cup in upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup in upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup in upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup in upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: put cup in upright\n\u003c/PRED\u003e","video":"15191120483945980403.mp4"}
+{"uid":"2352210348270233825","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4690233339407250372.mp4"}
+{"uid":"2212901315319457163","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the holder on the mat\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the holder on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2646665180592381085.mp4"}
+{"uid":"2348753361911144249","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup 6- Put a bean in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup 6- Put a bean in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a bean in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6655373025164050768.mp4"}
+{"uid":"14626307398265737951","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass bottle on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places. last 20 steps: 1- place the holder on the mat 2- place the glass bottle on the mat Q: immediate next step? \u003cPRED\u003eA: place the glass bottle on the mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places. last 20 steps: 1- place the holder on the mat 2- place the glass bottle on the mat Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass bottle on the mat 2- place the orange bottle on the mat 3- place the black bottle on the mat 4- place the golden bottle on the mat 5- place the honey bottle on the mat\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass bottle on the mat\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places Q: immediate next step? \u003cPRED\u003eA: place the glass bottle on the mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass bottle on the mat\n\u003c/PRED\u003e","video":"6615392228847946416.mp4"}
+{"uid":"3419687904674185772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5694887297335478232.mp4"}
+{"uid":"2048562094991912852","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in cup 2- Put the nut in plastic up 3- Put a bean in the cup 4- Put the nut in plastic cup 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e","video":"12641457183214430357.mp4"}
+{"uid":"4742114143881829545","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table Q: immediate next step? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in cup 2- Put the nut in plastic cup 3- Put the nut in plastic up 4- Put a bean in the cup 5- Put the nut in plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e","video":"7897166222906732832.mp4"}
+{"uid":"17961697805216495234","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":"4553123119839695798.mp4"}
+{"uid":"14987310187423845529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8556504710529469684.mp4"}
+{"uid":"3327125004045958985","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a bean in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put a bean in the cup 2- Put a bean in the cup 3- Put the nut in plastic cup 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup Q: immediate next step? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a bean in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"48032632674541303.mp4"}
+{"uid":"11931543144552874832","text":"\u003ctask:success:discrete:True\u003e\nplace the glass bottle on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass bottle on the mat\n\u003c/PRED\u003e","video":"1391745146126847457.mp4"}
+{"uid":"285895040177735045","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a bean in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a bean in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put a bean in the cup 2- Put the nut in plastic up 3- Put a bean in the cup 4- Put the nut in plastic cup 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table Q: immediate next step? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e","video":"12977529229291359555.mp4"}
+{"uid":"2212953963542461554","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTilt the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Tilt the cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: Tilt the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Tilt the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTilt the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Tilt the cup on the table\n\u003c/PRED\u003e","video":"12080330406803566623.mp4"}
+{"uid":"6932130173526030049","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the illy packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7893689409200487770.mp4"}
+{"uid":"3661772980089352926","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup 6- put pistachio in cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup 6- put pistachio in cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pistachio in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12317818075771092008.mp4"}
+{"uid":"8913003644733916117","text":"\u003ctask:success:discrete:True\u003e\nPut the nut in plastic up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 nut in plastic up\n\u003c/PRED\u003e","video":"15537925423395657286.mp4"}
+{"uid":"16174074961297651496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn the bowl upside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"40458928340266930.mp4"}
+{"uid":"2238842187586988816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the measuring tape 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":"5317270914436015747.mp4"}
+{"uid":"4664488518743225093","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black bottle on the mat\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places. last 20 steps: 1- place the holder on the mat 2- place the glass bottle on the mat 3- place the glass bottle on the mat 4- place the orange bottle on the mat Q: immediate next step? \u003cPRED\u003eA: place the black bottle on the mat\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places Q: immediate next step? \u003cPRED\u003eA: place the black bottle on the mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places. last 20 steps: 1- place the holder on the mat 2- place the glass bottle on the mat 3- place the glass bottle on the mat 4- place the orange bottle on the mat Q: next 5 steps? \u003cPRED\u003eA: 1- place the black bottle on the mat 2- place the golden bottle on the mat 3- place the honey bottle on the mat 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black bottle on the mat\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black bottle on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black bottle on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1754784853817076681.mp4"}
+{"uid":"11412892468194226397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12659657654189165630.mp4"}
+{"uid":"5792811000903714933","text":"\u003ctask:success:discrete:True\u003e\nPut the nut in plastic cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the nut in plastic cup\n\u003c/PRED\u003e","video":"4623053140965969367.mp4"}
+{"uid":"15876237726207383049","text":"\u003ctask:success:discrete:False\u003e\nput pistachio in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in cup 2- Put a bean in the cup 3- Put the nut in plastic cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e","video":"17074407803841622286.mp4"}
+{"uid":"10987012830703865187","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: Put the nut in plastic cup\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nut in plastic cup 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the nut in plastic cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a bean in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup Q: immediate next step? \u003cPRED\u003eA: Put the nut in plastic cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nut in plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nut in plastic cup\n\u003c/PRED\u003e","video":"912302176302002617.mp4"}
+{"uid":"2080650664114654500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14194404552874488839.mp4"}
+{"uid":"1463298793770973563","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nut in plastic cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: Put the nut in plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nut in plastic cup 2- Put the nut in plastic up 3- Put a bean in the cup 4- Put the nut in plastic cup 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nut in plastic cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup Q: immediate next step? \u003cPRED\u003eA: Put the nut in plastic cup\n\u003c/PRED\u003e","video":"13617826420849141802.mp4"}
+{"uid":"5824899907516787214","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10851571362987422392.mp4"}
+{"uid":"18219589649922707867","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the golden bottle on the mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places. last 20 steps: 1- place the holder on the mat 2- place the glass bottle on the mat 3- place the glass bottle on the mat 4- place the orange bottle on the mat 5- place the black bottle on the mat Q: next 5 steps? \u003cPRED\u003eA: 1- place the golden bottle on the mat 2- place the honey bottle on the mat 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the golden bottle on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places Q: immediate next step? \u003cPRED\u003eA: place the golden bottle on the mat\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places. last 20 steps: 1- place the holder on the mat 2- place the glass bottle on the mat 3- place the glass bottle on the mat 4- place the orange bottle on the mat 5- place the black bottle on the mat Q: immediate next step? \u003cPRED\u003eA: place the golden bottle on the mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the golden bottle on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 golden bottle on the mat\n\u003c/PRED\u003e","video":"16374591241045599423.mp4"}
+{"uid":"4101022963502990509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9119696260885748823.mp4"}
+{"uid":"4330786310911438072","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17158756696373274477.mp4"}
+{"uid":"8695524538613750081","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the cup vertically on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup vertically on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup vertically on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: Place the cup vertically on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup vertically on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cup vertically on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup vertically on the table\n\u003c/PRED\u003e","video":"14996091921306029843.mp4"}
+{"uid":"4750756990547704920","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places. last 20 steps: 1- place the holder on the mat Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass bottle on the mat 2- place the glass bottle on the mat 3- place the orange bottle on the mat 4- place the black bottle on the mat 5- place the golden bottle on the mat\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places. last 20 steps: 1- place the holder on the mat Q: immediate next step? \u003cPRED\u003eA: place the glass bottle on the mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass bottle on the mat\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Return the coffee stirrers, syrups, salt, pepper and honey to their proper places Q: immediate next step? \u003cPRED\u003eA: place the glass bottle on the mat\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass bottle on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 glass bottle on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 glass bottle on the mat\n\u003c/PRED\u003e","video":"3670746983011165087.mp4"}
+{"uid":"5705296510232465511","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup 6- Put the nut in plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the nut in plastic cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup 6- Put the nut in plastic cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the nut in plastic cup\n\u003c/PRED\u003e","video":"9489263088778948289.mp4"}
+{"uid":"15226615448423388690","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nut in plastic cup 2- Put the nut in plastic cup 3- Put the nut in plastic up 4- Put a bean in the cup 5- Put the nut in plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the nut in plastic cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nut in plastic cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table Q: immediate next step? \u003cPRED\u003eA: Put the nut in plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: Put the nut in plastic cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nut in plastic cup\n\u003c/PRED\u003e","video":"6518632850154324332.mp4"}
+{"uid":"12262804908369283017","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pista into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16602472808959437996.mp4"}
+{"uid":"6572871485512830709","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nut in plastic up 2- Put a bean in the cup 3- Put the nut in plastic cup 4- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the nut in plastic cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup Q: immediate next step? \u003cPRED\u003eA: Put the nut in plastic up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nut in plastic up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nut in plastic up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nut in plastic up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: Put the nut in plastic up\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the nut in plastic cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the nut in plastic up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"696090427480760325.mp4"}
+{"uid":"16278414172920533663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease 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":"6850937781126466389.mp4"}
+{"uid":"2590072263253152913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pink chocolate into the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11300969649666876553.mp4"}
+{"uid":"3777580697825184137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3068973689397965326.mp4"}
+{"uid":"7910488218970137326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes 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":"15101266222082347543.mp4"}
+{"uid":"2007746081107915636","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a bean in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put a bean in the cup 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up 5- Put a bean in the cup Q: immediate next step? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: Put a bean in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a bean in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12199040546887550679.mp4"}
+{"uid":"16896049631726049548","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":"1084701860323253967.mp4"}
+{"uid":"13149742629997602919","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup Q: immediate next step? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in cup 2- Put the nut in plastic cup 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the pistachios back in the cup. last 20 steps: 1- Tilt the cup on the table 2- Put the nut in plastic cup 3- Put the nut in plastic cup 4- Put the nut in plastic up Q: immediate next step? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio in cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16339927672744718505.mp4"}
+{"uid":"7725221124796519033","text":"\u003ctask:success:discrete:False\u003e\nopen left door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me . last 20 steps: 1- open right door Q: immediate next step? \u003cPRED\u003eA: open left door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open left door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open left door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen left door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me Q: immediate next step? \u003cPRED\u003eA: open left door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me . last 20 steps: 1- open right door Q: next 5 steps? \u003cPRED\u003eA: 1- open left door 2- put stapler up on rack 3- close left door 4- close right door 5- put stapler on table\n\u003c/PRED\u003e","video":"9149791447074756707.mp4"}
+{"uid":"11980390626421970748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16483606793921870449.mp4"}
+{"uid":"12119620794660350312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack a coffee cup lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7202158220969344383.mp4"}
+{"uid":"3538108311556688884","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me . last 20 steps: 1- open right door 2- open left door Q: immediate next step? \u003cPRED\u003eA: put stapler up on rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput stapler up on rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put stapler up on rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput stapler up on rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put stapler up on rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me . last 20 steps: 1- open right door 2- open left door Q: next 5 steps? \u003cPRED\u003eA: 1- put stapler up on rack 2- close left door 3- close right door 4- put stapler on table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me Q: immediate next step? \u003cPRED\u003eA: put stapler up on rack\n\u003c/PRED\u003e","video":"3868180083817767839.mp4"}
+{"uid":"17175089410733232664","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack 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":"481036422801942391.mp4"}
+{"uid":"3517830458294038769","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- put the can on the table 3- Put the can on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12945917470552494962.mp4"}
+{"uid":"4391731804770713273","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table 5- put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"15041382129178931101.mp4"}
+{"uid":"4787207879592774468","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- Put the can on the table 3- place the blue black can on the table 4- put the can on the table 5- Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e","video":"14011280518162551305.mp4"}
+{"uid":"6800413109037046241","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  green packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17596133637391939316.mp4"}
+{"uid":"6404020041921970731","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12756092533151512712.mp4"}
+{"uid":"646106708341775775","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":"7217970545586534585.mp4"}
+{"uid":"4984591849848116952","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close left door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me . last 20 steps: 1- open right door 2- open left door 3- put stapler up on rack Q: next 5 steps? \u003cPRED\u003eA: 1- close left door 2- close right door 3- put stapler on table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close left door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose left door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose left door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me Q: immediate next step? \u003cPRED\u003eA: close left door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me . last 20 steps: 1- open right door 2- open left door 3- put stapler up on rack Q: immediate next step? \u003cPRED\u003eA: close left door\n\u003c/PRED\u003e","video":"17285455023400460081.mp4"}
+{"uid":"13581670637277303380","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14516288118464393501.mp4"}
+{"uid":"12748404436679034475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10315684725162258297.mp4"}
+{"uid":"3267779407664877213","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table 5- put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e","video":"9215833990387327195.mp4"}
+{"uid":"5297698193651631091","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table 5- put the can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table 5- put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- done\n\u003c/PRED\u003e","video":"13829712942306678831.mp4"}
+{"uid":"867248662137790502","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"9543929397573538748.mp4"}
+{"uid":"6247445708285843486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sponge in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6699120639879818271.mp4"}
+{"uid":"7507524705717748872","text":"\u003ctask:success:discrete:False\u003e\nopen right door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen right door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open right door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me Q: immediate next step? \u003cPRED\u003eA: open right door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open right door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open right door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open right door 2- open left door 3- put stapler up on rack 4- close left door 5- close right door\n\u003c/PRED\u003e","video":"2162691378256330564.mp4"}
+{"uid":"8084039611967425792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange 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\u003ctask:affordance:discriminative:discrete:False\u003e\ntouch the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3890209675830174098.mp4"}
+{"uid":"11856780488813404729","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9918399811630470000.mp4"}
+{"uid":"18125041889216458133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the indoor plant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12324477446565646683.mp4"}
+{"uid":"8423656560663342438","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table 5- put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table 5- put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"6778408314332038242.mp4"}
+{"uid":"2645150211986096067","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- put the can on the table 3- Put the can on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8298102965480269305.mp4"}
+{"uid":"4208113879815114609","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9413587691659669419.mp4"}
+{"uid":"10513491451327630991","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose right door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose right door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me . last 20 steps: 1- open right door 2- open left door 3- put stapler up on rack 4- close left door Q: next 5 steps? \u003cPRED\u003eA: 1- close right door 2- put stapler on table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me . last 20 steps: 1- open right door 2- open left door 3- put stapler up on rack 4- close left door Q: immediate next step? \u003cPRED\u003eA: close right door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close right door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close right door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me Q: immediate next step? \u003cPRED\u003eA: close right door\n\u003c/PRED\u003e","video":"6235123285339529092.mp4"}
+{"uid":"2066918778931570685","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Put the can on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16120431196056185062.mp4"}
+{"uid":"232766634884521554","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- Put the can on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e","video":"3414732825895452387.mp4"}
+{"uid":"10563866095090313406","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15248773767296560247.mp4"}
+{"uid":"2969746410415222389","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the top left drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10978641860321941956.mp4"}
+{"uid":"15987186638776533602","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- place the blue black can on the table 3- put the can on the table 4- Put the can on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- place the blue black can on the table 3- put the can on the table 4- Put the can on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"251225009293187373.mp4"}
+{"uid":"16848802129893776250","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table 5- put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table 5- put the can on the table Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15788177599137232197.mp4"}
+{"uid":"15610517692367706584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange wrapper into the left black 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":"17590809017415425604.mp4"}
+{"uid":"12626572561770453058","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7237341568330007934.mp4"}
+{"uid":"9492066419186932647","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table 5- put the can on the table 6- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table 5- put the can on the table 6- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11884468332832575170.mp4"}
+{"uid":"6663681301513727311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2212330730754383354.mp4"}
+{"uid":"11418651282050142402","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- Put the can on the table 3- place the blue black can on the table 4- put the can on the table 5- Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e","video":"14341540258339034154.mp4"}
+{"uid":"8446851860090691533","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":"4734523473667195696.mp4"}
+{"uid":"12798533584864235424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a green yogurt 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":"16467278407990939998.mp4"}
+{"uid":"17436990681455228805","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open right door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen right door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"612391690371217584.mp4"}
+{"uid":"4599928148447053750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass downright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10389414889664902256.mp4"}
+{"uid":"2535896801508075967","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput stapler on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me Q: immediate next step? \u003cPRED\u003eA: put stapler on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me . last 20 steps: 1- open right door 2- open left door 3- put stapler up on rack 4- close left door 5- close right door Q: next 5 steps? \u003cPRED\u003eA: 1- put stapler on table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put stapler on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me . last 20 steps: 1- open right door 2- open left door 3- put stapler up on rack 4- close left door 5- close right door Q: immediate next step? \u003cPRED\u003eA: put stapler on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put stapler on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput stapler on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12087146891349501816.mp4"}
+{"uid":"3123943480996999099","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue black can on the table 2- Put the can on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue black can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2113816274134228388.mp4"}
+{"uid":"9780638287116919006","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nupright 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":"13459917525259208720.mp4"}
+{"uid":"8012502521671163108","text":"\u003ctask:success:discrete:True\u003e\nplace the blue black can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue black can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table 5- put the can on the table 6- place the blue black can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table 5- put the can on the table 6- place the blue black can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3011906611735656753.mp4"}
+{"uid":"1421372433954707610","text":"\u003ctask:success:discrete:True\u003e\nput stapler up on rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put stapler up on rack\n\u003c/PRED\u003e","video":"2839017584282110044.mp4"}
+{"uid":"8959217893415647042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1053280086537180148.mp4"}
+{"uid":"3704675644558583481","text":"\u003ctask:success:discrete:True\u003e\nput the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table 5- put the can on the table 6- put the can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table 5- put the can on the table 6- put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17775706051437640478.mp4"}
+{"uid":"9020541799535932048","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- put the can on the table 3- Put the can on the table 4- place the blue black can on the table 5- put the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e","video":"18169224372235477820.mp4"}
+{"uid":"17790435302738587163","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- Put the can on the table 3- place the blue black can on the table 4- put the can on the table 5- Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"3534361340791959379.mp4"}
+{"uid":"14567973461352834104","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2722840763050601024.mp4"}
+{"uid":"4673116443309370358","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput stapler on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me . last 20 steps: 1- open right door 2- open left door 3- put stapler up on rack 4- close left door 5- close right door 6- put stapler on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go get a stapler from the supply cabinet and bring back to me . last 20 steps: 1- open right door 2- open left door 3- put stapler up on rack 4- close left door 5- close right door 6- put stapler on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put stapler on table\n\u003c/PRED\u003e","video":"12400471575818316740.mp4"}
+{"uid":"9667227379993778447","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- Put the can on the table 2- put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place the blue black can on the table 3- put the can on the table 4- Put the can on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10467790976246869318.mp4"}
+{"uid":"2007602907079380770","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand 16- place the lid on the existing lids in the stand 17- place the lid on the existing lids in the stand 18- place the lid on the existing lids in the stand 19- place the lids on the existing lids in the stand 20- place the lid on the existing lids in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the existing lids in the stand 2- place the lid on the existing lids in the stand 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand 16- place the lid on the existing lids in the stand 17- place the lid on the existing lids in the stand 18- place the lid on the existing lids in the stand 19- place the lids on the existing lids in the stand 20- place the lid on the existing lids in the stand Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4532634541022841728.mp4"}
+{"uid":"12836361712505499303","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the glass in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nadjust the glass in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9347210797741621720.mp4"}
+{"uid":"690371672078024248","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass on the existing glasses in the stand 2- unstack the glasses on the existing glasses in the stand 3- unstack the glasses on the existing glasses in the stand 4- unstack the glasses on the existing glasses in the stand 5- place the lid in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass on the existing glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass on the existing glasses in the stand\n\u003c/PRED\u003e","video":"12165708387016797353.mp4"}
+{"uid":"10117248025996162469","text":"\u003ctask:success:discrete:False\u003e\nplace the lid on the existing lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the existing lids in the stand 2- place the lid on the existing lids in the stand 3- place the lid on the existing lids in the stand 4- place the lids on the existing lids in the stand 5- place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e","video":"8013686140873373808.mp4"}
+{"uid":"12438614407921849089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the stapler pin bar in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5175018201487764496.mp4"}
+{"uid":"14861264013779426376","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brush on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9936558796671694031.mp4"}
+{"uid":"3625080409006597407","text":"\u003ctask:success:discrete:True\u003e\nunstack the glasses in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glasses in the stand\n\u003c/PRED\u003e","video":"14474801492031098971.mp4"}
+{"uid":"14497826022976053695","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the glasses on the existing glasses in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12259686929321230670.mp4"}
+{"uid":"4083728026922709801","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand 16- place the lid on the existing lids in the stand Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand 16- place the lid on the existing lids in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the existing lids in the stand 2- place the lid on the existing lids in the stand 3- place the lids on the existing lids in the stand 4- place the lid on the existing lids in the stand 5- place the lid on the existing lids in the stand\n\u003c/PRED\u003e","video":"2052918090356881917.mp4"}
+{"uid":"4053359507464349534","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass on the existing glasses in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass on the existing glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass on the existing glasses in the stand 2- stack the glass on the existing glasses in the stand 3- unstack the glasses on the existing glasses in the stand 4- unstack the glasses on the existing glasses in the stand 5- unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: stack the glass on the existing glasses in the stand\n\u003c/PRED\u003e","video":"11727374142743545494.mp4"}
+{"uid":"423628224072912506","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- adjust the glass in the stand 2- unstack the glasses in the stand 3- unstack the glasses in the stand 4- stack the glass on the existing glasses in the stand 5- stack the glass on the existing glasses in the stand 6- unstack the glasses on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- place the lid in the stand 10- place the lids on the existing lid in the stand 11- adjust the lids in the stand 12- place the lid on the existing lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand 16- place the lid on the existing lids in the stand 17- place the lid on the existing lids in the stand 18- place the lids on the existing lids in the stand 19- place the lid on the existing lids in the stand 20- place the lid on the existing lids in the stand Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- adjust the glass in the stand 2- unstack the glasses in the stand 3- unstack the glasses in the stand 4- stack the glass on the existing glasses in the stand 5- stack the glass on the existing glasses in the stand 6- unstack the glasses on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- place the lid in the stand 10- place the lids on the existing lid in the stand 11- adjust the lids in the stand 12- place the lid on the existing lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand 16- place the lid on the existing lids in the stand 17- place the lid on the existing lids in the stand 18- place the lids on the existing lids in the stand 19- place the lid on the existing lids in the stand 20- place the lid on the existing lids in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the existing lids in the stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5656452932831933834.mp4"}
+{"uid":"11863170422667503261","text":"\u003ctask:success:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e","video":"2167407297143039645.mp4"}
+{"uid":"15301093251434551865","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand Q: immediate next step? \u003cPRED\u003eA: unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glasses on the existing glasses in the stand 2- place the lid in the stand 3- place the lids on the existing lid in the stand 4- adjust the lids in the stand 5- place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glasses on the existing glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e","video":"8625119044406793665.mp4"}
+{"uid":"10187834576002904279","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12928594430692426042.mp4"}
+{"uid":"16244795701139432680","text":"\u003ctask:success:discrete:False\u003e\nunstack the glasses on the existing glasses in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glasses on the existing glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand Q: immediate next step? \u003cPRED\u003eA: unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glasses on the existing glasses in the stand 2- unstack the glasses on the existing glasses in the stand 3- unstack the glasses on the existing glasses in the stand 4- place the lid in the stand 5- place the lids on the existing lid in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e","video":"18194446644153705766.mp4"}
+{"uid":"3664618811517560532","text":"\u003ctask:success:discrete:True\u003e\nstack the glass on the existing glasses in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass on the existing glasses in the stand\n\u003c/PRED\u003e","video":"13477112053678793567.mp4"}
+{"uid":"655400857116514188","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2661687590751903682.mp4"}
+{"uid":"14991901964315060498","text":"\u003ctask:success:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e","video":"17262064716917762211.mp4"}
+{"uid":"7149092394481825557","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the existing lids in the stand 2- place the lid on the existing lids in the stand 3- place the lid on the existing lids in the stand 4- place the lid on the existing lids in the stand 5- place the lids on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1353901837377951728.mp4"}
+{"uid":"13575266007519365294","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glasses in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glasses in the stand 2- unstack the glasses in the stand 3- stack the glass on the existing glasses in the stand 4- stack the glass on the existing glasses in the stand 5- unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glasses in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: unstack the glasses in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the glasses in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand Q: immediate next step? \u003cPRED\u003eA: unstack the glasses in the stand\n\u003c/PRED\u003e","video":"12527118082038678329.mp4"}
+{"uid":"16740283984045795214","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16973214961943304493.mp4"}
+{"uid":"10947692392771775392","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6657543847703757006.mp4"}
+{"uid":"5677586325207943946","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand Q: immediate next step? \u003cPRED\u003eA: unstack the glasses in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glasses in the stand 2- stack the glass on the existing glasses in the stand 3- stack the glass on the existing glasses in the stand 4- unstack the glasses on the existing glasses in the stand 5- unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glasses in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glasses in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: unstack the glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1097122603400589922.mp4"}
+{"uid":"13323447828650226765","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the lids in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: adjust the lids in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the lids in the stand 2- place the lid on the existing lids in the stand 3- place the lid on the existing lids in the stand 4- place the lid on the existing lids in the stand 5- place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the lids in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand Q: immediate next step? \u003cPRED\u003eA: adjust the lids in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14645353266092302770.mp4"}
+{"uid":"9327240756565932524","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand 16- place the lid on the existing lids in the stand 17- place the lid on the existing lids in the stand Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand 16- place the lid on the existing lids in the stand 17- place the lid on the existing lids in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the existing lids in the stand 2- place the lids on the existing lids in the stand 3- place the lid on the existing lids in the stand 4- place the lid on the existing lids in the stand 5- place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e","video":"8755977300229955976.mp4"}
+{"uid":"11671476262311474376","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio into the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3342240179572046229.mp4"}
+{"uid":"2078874799009531623","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the existing lids in the stand 2- place the lid on the existing lids in the stand 3- place the lid on the existing lids in the stand 4- place the lid on the existing lids in the stand 5- place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid on the existing lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1868962019702923411.mp4"}
+{"uid":"2044396980780167598","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9367023198802689840.mp4"}
+{"uid":"6964885878820614197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tea 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":"9363861808563627559.mp4"}
+{"uid":"15954515939665925119","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand 16- place the lid on the existing lids in the stand 17- place the lid on the existing lids in the stand 18- place the lid on the existing lids in the stand 19- place the lids on the existing lids in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the existing lids in the stand 2- place the lid on the existing lids in the stand 3- place the lid on the existing lids in the stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand 16- place the lid on the existing lids in the stand 17- place the lid on the existing lids in the stand 18- place the lid on the existing lids in the stand 19- place the lids on the existing lids in the stand Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid on the existing lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5421894888660125526.mp4"}
+{"uid":"5022445183532397243","text":"\u003ctask:success:discrete:True\u003e\nadjust the lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the lids in the stand\n\u003c/PRED\u003e","video":"4219503269841854700.mp4"}
+{"uid":"4911799909351742492","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the glass in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: unstack the glass in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the glass in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass in the stand\n\u003c/PRED\u003e","video":"8262414280998436758.mp4"}
+{"uid":"14899446282643087432","text":"\u003ctask:success:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e","video":"12375490523921753078.mp4"}
+{"uid":"7787704462838460113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17156042070101599925.mp4"}
+{"uid":"7696603302824452483","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the popcorn packet in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14340591632762601309.mp4"}
+{"uid":"13912815396649483158","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5286336350974244957.mp4"}
+{"uid":"2648521564642740196","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the existing lids in the stand 2- place the lid on the existing lids in the stand 3- place the lid on the existing lids in the stand 4- place the lid on the existing lids in the stand 5- place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid on the existing lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e","video":"16209440677356382405.mp4"}
+{"uid":"8836884155384112790","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15610958740181334428.mp4"}
+{"uid":"3476810385599712912","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"676962433193604230.mp4"}
+{"uid":"6281131172971549155","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1454799961435644465.mp4"}
+{"uid":"12326544528206159400","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16221779447294056654.mp4"}
+{"uid":"3790293277613653159","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glass on the existing glasses in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4949214795383860314.mp4"}
+{"uid":"8988917918158011284","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand Q: immediate next step? \u003cPRED\u003eA: unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glasses on the existing glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the glasses on the existing glasses in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glasses on the existing glasses in the stand 2- unstack the glasses on the existing glasses in the stand 3- place the lid in the stand 4- place the lids on the existing lid in the stand 5- adjust the lids in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e","video":"12078483618365153777.mp4"}
+{"uid":"10904557320141956685","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid in the stand 2- place the lids on the existing lid in the stand 3- adjust the lids in the stand 4- place the lid on the existing lids in the stand 5- place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand Q: immediate next step? \u003cPRED\u003eA: place the lid in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: place the lid in the stand\n\u003c/PRED\u003e","video":"8403468911928107328.mp4"}
+{"uid":"742266994735746414","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachio into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14210109571093549344.mp4"}
+{"uid":"3102817710763997698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red packet in black 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":"11964951005979718665.mp4"}
+{"uid":"9564052186958718659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass 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":"4197118550782812038.mp4"}
+{"uid":"8120892297890867670","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lids on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the lids on the existing lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16575890617302929278.mp4"}
+{"uid":"5375257133288883126","text":"\u003ctask:success:discrete:True\u003e\nplace the lids on the existing lid in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lids on the existing lid in the stand\n\u003c/PRED\u003e","video":"17181948204920796715.mp4"}
+{"uid":"12784710034625937506","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the glass in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the glass in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the glass in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand Q: immediate next step? \u003cPRED\u003eA: adjust the glass in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: adjust the glass in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the glass in the stand 2- unstack the glasses in the stand 3- unstack the glasses in the stand 4- stack the glass on the existing glasses in the stand 5- stack the glass on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the glass in the stand\n\u003c/PRED\u003e","video":"12487228558176053668.mp4"}
+{"uid":"8432310475866861869","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plates Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8363578490940681196.mp4"}
+{"uid":"4671842398506672066","text":"\u003ctask:success:discrete:True\u003e\nunstack the glasses in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glasses in the stand\n\u003c/PRED\u003e","video":"7522024835070885413.mp4"}
+{"uid":"15113021120490054031","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the stack of cups in rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17447346469455664181.mp4"}
+{"uid":"8357352788141743525","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11692420927013621520.mp4"}
+{"uid":"4560283528739506145","text":"\u003ctask:success:discrete:True\u003e\nunstack the glass in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass in the stand\n\u003c/PRED\u003e","video":"10172407150946499659.mp4"}
+{"uid":"6862112307826007898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace box into 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":"11295580132159548220.mp4"}
+{"uid":"6351649592350487758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14295618191554519678.mp4"}
+{"uid":"875127398943189802","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand Q: immediate next step? \u003cPRED\u003eA: place the lids on the existing lid in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lids on the existing lid in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lids on the existing lid in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: place the lids on the existing lid in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lids on the existing lid in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lids on the existing lid in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the lids on the existing lid in the stand 2- adjust the lids in the stand 3- place the lid on the existing lids in the stand 4- place the lid on the existing lids in the stand 5- place the lid on the existing lids in the stand\n\u003c/PRED\u003e","video":"14626911171423924979.mp4"}
+{"uid":"4121697004689464055","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the glasses on the existing glasses in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2881543916981416543.mp4"}
+{"uid":"6910688634975451756","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pipe 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":"1312420566876612228.mp4"}
+{"uid":"2312063701230886713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\norganize green sugar pouch 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":"7261681788682801469.mp4"}
+{"uid":"15089467848772557335","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glasses in the stand 2- unstack the glasses in the stand 3- stack the glass on the existing glasses in the stand 4- stack the glass on the existing glasses in the stand 5- unstack the glasses on the existing glasses in the stand 6- unstack the glasses on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- place the lid in the stand 9- place the lids on the existing lid in the stand 10- adjust the lids in the stand 11- place the lid on the existing lids in the stand 12- place the lid on the existing lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand 16- place the lid on the existing lids in the stand 17- place the lids on the existing lids in the stand 18- place the lid on the existing lids in the stand 19- place the lid on the existing lids in the stand 20- place the lid on the existing lids in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the lid on the existing lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glasses in the stand 2- unstack the glasses in the stand 3- stack the glass on the existing glasses in the stand 4- stack the glass on the existing glasses in the stand 5- unstack the glasses on the existing glasses in the stand 6- unstack the glasses on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- place the lid in the stand 9- place the lids on the existing lid in the stand 10- adjust the lids in the stand 11- place the lid on the existing lids in the stand 12- place the lid on the existing lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand 16- place the lid on the existing lids in the stand 17- place the lids on the existing lids in the stand 18- place the lid on the existing lids in the stand 19- place the lid on the existing lids in the stand 20- place the lid on the existing lids in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15490260447538050115.mp4"}
+{"uid":"1709406065432195820","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glasses on the existing glasses in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the glasses on the existing glasses in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3935573787763823644.mp4"}
+{"uid":"8653851201426736465","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16830981104832632888.mp4"}
+{"uid":"906879429575695356","text":"\u003ctask:success:discrete:True\u003e\nplace the lid in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid in the stand\n\u003c/PRED\u003e","video":"10796411498121398926.mp4"}
+{"uid":"9744874170592533211","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lids on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand 16- place the lid on the existing lids in the stand 17- place the lid on the existing lids in the stand 18- place the lid on the existing lids in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the lids on the existing lids in the stand 2- place the lid on the existing lids in the stand 3- place the lid on the existing lids in the stand 4- place the lid on the existing lids in the stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lids on the existing lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. last 20 steps: 1- unstack the glass in the stand 2- adjust the glass in the stand 3- unstack the glasses in the stand 4- unstack the glasses in the stand 5- stack the glass on the existing glasses in the stand 6- stack the glass on the existing glasses in the stand 7- unstack the glasses on the existing glasses in the stand 8- unstack the glasses on the existing glasses in the stand 9- unstack the glasses on the existing glasses in the stand 10- place the lid in the stand 11- place the lids on the existing lid in the stand 12- adjust the lids in the stand 13- place the lid on the existing lids in the stand 14- place the lid on the existing lids in the stand 15- place the lid on the existing lids in the stand 16- place the lid on the existing lids in the stand 17- place the lid on the existing lids in the stand 18- place the lid on the existing lids in the stand Q: immediate next step? \u003cPRED\u003eA: place the lids on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lids on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the cups and lids on the rack. Q: immediate next step? \u003cPRED\u003eA: place the lids on the existing lids in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lids on the existing lids in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8454884509376933809.mp4"}
+{"uid":"7688703991537457981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the green 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":"2459920221001960182.mp4"}
+{"uid":"7869337608135911487","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue chip bag into 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: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the blue chip bag into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket 13- drop the chocolate candy into the bowl 14- move the basket a side Q: immediate next step? \u003cPRED\u003eA: drop the blue chip bag into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue chip bag into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue chip bag into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket 13- drop the chocolate candy into the bowl 14- move the basket a side Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue chip bag into the basket 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue chip bag into 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":"17661744610948635172.mp4"}
+{"uid":"8345306943697706807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7966992707028515635.mp4"}
+{"uid":"17594952117221230638","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the bowl 2- put the chocolate into the bowl 3- drop the chocolate candy into the bowl 4- drop the chocolate candy into the bowl 5- put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e","video":"15080014454315874320.mp4"}
+{"uid":"964211359094745260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14079208669809565619.mp4"}
+{"uid":"852234346666576854","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the blue chip bag into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the blue chip bag into 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":"2906095637540950616.mp4"}
+{"uid":"14302865265981225495","text":"\u003ctask:success:discrete:False\u003e\ndrop the chocolate candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the chocolate candy into the bowl 2- move the basket a side 3- put the blue packet into the basket 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the chocolate candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e","video":"10621852782816087512.mp4"}
+{"uid":"18006147880164845486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2608931593567087916.mp4"}
+{"uid":"12867941901693905317","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the chocolate candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the chocolate candy into the bowl 2- drop the chocolate candy into the bowl 3- put the chocolate into the bowl 4- Put the orange packet in the bowl 5- Put the kettle blue packet in the basket\n\u003c/PRED\u003e","video":"6429282796193715027.mp4"}
+{"uid":"11579589049178341208","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet into 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: drop the packet into the basket\n\u003c/PRED\u003e","video":"15456529657126636473.mp4"}
+{"uid":"12705612705012686205","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet into 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket 13- drop the chocolate candy into the bowl 14- move the basket a side Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet into the basket 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the blue packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet into 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket 13- drop the chocolate candy into the bowl 14- move the basket a side Q: immediate next step? \u003cPRED\u003eA: put the blue packet into the basket\n\u003c/PRED\u003e","video":"4377895771926414851.mp4"}
+{"uid":"10006469789021313693","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":"3015509883874970661.mp4"}
+{"uid":"10712921637356484108","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the chocolate into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate into the bowl 2- drop the chocolate candy into the bowl 3- drop the chocolate candy into the bowl 4- put the chocolate into the bowl 5- Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e","video":"891386763268045331.mp4"}
+{"uid":"7457704733435336140","text":"\u003ctask:success:discrete:False\u003e\ndrop the chocolate candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the chocolate candy into the bowl 2- put the chocolate into the bowl 3- drop the chocolate candy into the bowl 4- drop the chocolate candy into the bowl 5- put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the chocolate candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e","video":"3497980310993200764.mp4"}
+{"uid":"4627111598509722985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11462044009336917988.mp4"}
+{"uid":"2971432513693152166","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the chocolate into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate into the bowl 2- move the basket a side 3- put the blue packet into the basket 4- done\n\u003c/PRED\u003e","video":"15456116313465215368.mp4"}
+{"uid":"18194855262295843616","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet into the basket 2- drop the chocolate candy into the bowl 3- move the basket a side 4- put the blue packet into the basket 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the blue packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet into 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: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the blue packet into the basket\n\u003c/PRED\u003e","video":"15967891979737503066.mp4"}
+{"uid":"4012303750004668983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the black cable 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":"13020052945137279251.mp4"}
+{"uid":"1053621017470962747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17555009561564354234.mp4"}
+{"uid":"15227091095392688836","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18303476527809842909.mp4"}
+{"uid":"10396527205203632934","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8945098036315208438.mp4"}
+{"uid":"2345221725048517200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10238790297687019350.mp4"}
+{"uid":"7151883448942667100","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the chocolate into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate into the bowl 2- put the chocolate into the bowl 3- drop the chocolate candy into the bowl 4- drop the chocolate candy into the bowl 5- put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15869891100604677635.mp4"}
+{"uid":"15572982885307876233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput stone 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":"10162026825940610476.mp4"}
+{"uid":"6898662454669280376","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the swedish fish packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the swedish fish packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the swedish fish packet in the bowl 2- Put the swedish fish packet in the bowl 3- Put the orange packet in the bowl 4- put the chocolate into the bowl 5- drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the swedish fish packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the swedish fish packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the swedish fish packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11894437169570338047.mp4"}
+{"uid":"9842047878933528047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the control panel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4835374511270040572.mp4"}
+{"uid":"16145284154713357965","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the swedish fish packet in the bowl 2- Put the swedish fish packet in the bowl 3- Put the swedish fish packet in the bowl 4- Put the orange packet in the bowl 5- put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the swedish fish packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the swedish fish packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the swedish fish packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the swedish fish packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the swedish fish packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the swedish fish packet in the bowl\n\u003c/PRED\u003e","video":"9444371988965565533.mp4"}
+{"uid":"12290571063322286469","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket 13- drop the chocolate candy into the bowl 14- move the basket a side 15- Put the blue kettle packet in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue kettle packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue kettle packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket 13- drop the chocolate candy into the bowl 14- move the basket a side 15- Put the blue kettle packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"13139349536799994618.mp4"}
+{"uid":"15805844648753854060","text":"\u003ctask:success:discrete:True\u003e\nPut the white green packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white green packet in the basket\n\u003c/PRED\u003e","video":"1890944212932777968.mp4"}
+{"uid":"18419317342181017612","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the chocolate candy into the bowl 2- Put the kettle blue packet in the basket 3- drop the chocolate candy into the bowl 4- move the basket a side 5- put the blue packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the chocolate candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the chocolate candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e","video":"17657542455955050721.mp4"}
+{"uid":"13602791137855079806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the kehle into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16386938887080892112.mp4"}
+{"uid":"6758636162818749634","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"921250363652055516.mp4"}
+{"uid":"8258383371688577120","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":"13239708199398838966.mp4"}
+{"uid":"16553267237549972097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cup on the kitchen 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":"7528731783234532881.mp4"}
+{"uid":"16565567697119388106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black packet in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15801515012634661306.mp4"}
+{"uid":"7883789441944157262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop knife 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":"3951509142001768580.mp4"}
+{"uid":"12089332527569340605","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket 13- drop the chocolate candy into the bowl 14- move the basket a side 15- drop the blue chip bag into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the blue chip bag into 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 blue chip bag into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket 13- drop the chocolate candy into the bowl 14- move the basket a side 15- drop the blue chip bag into the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11438683745075115893.mp4"}
+{"uid":"18278463639861057465","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the green jalapeno chip bag into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket Q: immediate next step? \u003cPRED\u003eA: drop the green jalapeno chip bag into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green jalapeno chip bag into the basket 2- Put the swedish fish packet in the bowl 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green jalapeno chip bag into 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 green jalapeno chip bag into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green jalapeno chip bag into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green jalapeno chip bag into 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":"3891257973382486207.mp4"}
+{"uid":"1946094967935969359","text":"\u003ctask:success:discrete:True\u003e\nPut the kettle blue packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the kettle blue packet in the basket\n\u003c/PRED\u003e","video":"2878762050560606241.mp4"}
+{"uid":"4601323269453760261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the can in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15524998559946227207.mp4"}
+{"uid":"5283857899848824896","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the kettle blue packet in the basket 2- drop the chocolate candy into the bowl 3- move the basket a side 4- put the blue packet into the basket 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the kettle blue packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the kettle blue packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the kettle blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the kettle blue packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the kettle blue packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the kettle blue packet in the basket\n\u003c/PRED\u003e","video":"16034737344368538169.mp4"}
+{"uid":"8689478745309937774","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the bowl 2- Put the kettle blue packet in the basket 3- drop the chocolate candy into the bowl 4- move the basket a side 5- put the blue packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6240312601354958939.mp4"}
+{"uid":"2886927781653067992","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the chocolate into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate into the bowl 2- Put the kettle blue packet in the basket 3- drop the chocolate candy into the bowl 4- move the basket a side 5- put the blue packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e","video":"7520901370585468240.mp4"}
+{"uid":"1902084006310606697","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"13537724511242768968.mp4"}
+{"uid":"13356536956988903652","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the swedish fish bag into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the swedish fish bag into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the swedish fish bag into the bowl 2- Put the swedish fish packet in the bowl 3- Put the swedish fish packet in the bowl 4- Put the orange packet in the bowl 5- put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the swedish fish bag into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket Q: immediate next step? \u003cPRED\u003eA: drop the swedish fish bag into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the swedish fish bag into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the swedish fish bag into the bowl\n\u003c/PRED\u003e","video":"14383281719311145646.mp4"}
+{"uid":"12279254182464715709","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white green packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white green packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white green packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the white green packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the white green packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white green packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7071288425815944381.mp4"}
+{"uid":"10873330228594736917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1470120677472076723.mp4"}
+{"uid":"15655283133730418395","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5857631510642655498.mp4"}
+{"uid":"8462778968638115586","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue chip bag into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the blue chip bag into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue chip bag into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the blue chip bag into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue chip bag into 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue chip bag into the basket 2- drop the chocolate candy into the bowl 3- move the basket a side 4- put the blue packet into the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue chip bag into the basket\n\u003c/PRED\u003e","video":"4901313651916834382.mp4"}
+{"uid":"7679430441696327676","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green kettle packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green kettle packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green kettle packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green kettle packet in the basket 2- Put the swedish fish packet in the bowl 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green kettle packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green kettle packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the green kettle packet in the basket\n\u003c/PRED\u003e","video":"2687319990166542139.mp4"}
+{"uid":"7600693203968261793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop banana into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14538410625931287958.mp4"}
+{"uid":"13822365738641613762","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7678779066067695988.mp4"}
+{"uid":"4615834651605097056","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14607364592810852189.mp4"}
+{"uid":"15278367421177414153","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow packet into 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: put the yellow packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet into 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet into the basket 2- Put the swedish fish packet in the bowl 3- Put the orange packet in the bowl 4- put the chocolate into the bowl 5- drop the chocolate candy into the bowl\n\u003c/PRED\u003e","video":"15846413991861482244.mp4"}
+{"uid":"15537848252266447565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange packets 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":"5019842810182098257.mp4"}
+{"uid":"3950879795795620095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the vita coco 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":"14257051684082568004.mp4"}
+{"uid":"14777711709054443651","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12110326371356985350.mp4"}
+{"uid":"911833308900370438","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18297871410721679669.mp4"}
+{"uid":"7188073812446856654","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue packet into 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":"12537099584504653281.mp4"}
+{"uid":"3573809325983029792","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket 13- drop the chocolate candy into the bowl 14- move the basket a side Q: immediate next step? \u003cPRED\u003eA: Put the blue kettle packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue kettle packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue kettle packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue kettle packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue kettle packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the blue kettle packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket 13- drop the chocolate candy into the bowl 14- move the basket a side Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue kettle packet in the basket 2- done\n\u003c/PRED\u003e","video":"9652838881481625937.mp4"}
+{"uid":"9777606561595577866","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the chocolate candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the chocolate candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the chocolate candy into the bowl 2- put the chocolate into the bowl 3- Put the orange packet in the bowl 4- Put the kettle blue packet in the basket 5- drop the chocolate candy into the bowl\n\u003c/PRED\u003e","video":"7507825380082645736.mp4"}
+{"uid":"16181961953780914814","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the basket a side\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket 13- drop the chocolate candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- move the basket a side 2- put the blue packet into the basket 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the basket 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:success:discrete:False\u003e\nmove the basket 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 the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket 13- drop the chocolate candy into the bowl Q: immediate next step? \u003cPRED\u003eA: move the basket a side\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: move the basket a side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the basket a side\n\u003c/PRED\u003e","video":"3168394425807822788.mp4"}
+{"uid":"5712262500684692517","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack 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":"1588060275689543016.mp4"}
+{"uid":"17830372416338754593","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet into the bowl 2- Put the swedish fish packet in the bowl 3- Put the swedish fish packet in the bowl 4- Put the orange packet in the bowl 5- put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1326391040889149180.mp4"}
+{"uid":"7188747022022028359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1930678526783817171.mp4"}
+{"uid":"1499879323094148152","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17855224038223980473.mp4"}
+{"uid":"1915084579834958137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace an orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7369493126317649425.mp4"}
+{"uid":"11593557411768402789","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket 13- drop the chocolate candy into the bowl 14- move the basket a side 15- put the blue packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue packet into 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket 13- drop the chocolate candy into the bowl 14- move the basket a side 15- put the blue packet into the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11173135681429398129.mp4"}
+{"uid":"13119581831509003398","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the green packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl 10- put the chocolate into the bowl 11- Put the orange packet in the bowl 12- Put the kettle blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green packet in the bowl 2- move the basket a side 3- put the blue packet into the basket 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"427368134272202393.mp4"}
+{"uid":"14224396311992600953","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the boulder packet into the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the boulder packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the boulder packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the boulder packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the boulder packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the boulder packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the boulder packet into the basket\n\u003c/PRED\u003e","video":"10866892946496309783.mp4"}
+{"uid":"7700945645373450898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table from the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17583225528430906742.mp4"}
+{"uid":"1682080114993897030","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the swedish fish bag into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the swedish fish bag into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the swedish fish bag into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the swedish fish bag into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the swedish fish bag into the bowl 2- Put the swedish fish packet in the bowl 3- Put the orange packet in the bowl 4- put the chocolate into the bowl 5- drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the swedish fish bag into the bowl\n\u003c/PRED\u003e","video":"5339765823056439931.mp4"}
+{"uid":"14790399528565961744","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1325697988638207972.mp4"}
+{"uid":"14173088064333502412","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5645827125465920053.mp4"}
+{"uid":"17235563101212976","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the marker cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3338786177381492018.mp4"}
+{"uid":"2824665470050330086","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate into the bowl 2- Put the orange packet in the bowl 3- Put the kettle blue packet in the basket 4- drop the chocolate candy into the bowl 5- move the basket a side\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the chocolate into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chocolate into the bowl\n\u003c/PRED\u003e","video":"12606860513615446744.mp4"}
+{"uid":"15051254585841515023","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the rold gold packet left side in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7555765506082891241.mp4"}
+{"uid":"15151066911534466598","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the chocolate candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the chocolate candy into the bowl 2- Put the orange packet in the bowl 3- Put the kettle blue packet in the basket 4- drop the chocolate candy into the bowl 5- move the basket a side\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e","video":"15842331996841165383.mp4"}
+{"uid":"3703004736546397941","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green packet in the bowl 2- put the chocolate into the bowl 3- Put the orange packet in the bowl 4- Put the kettle blue packet in the basket 5- drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16098383237588920864.mp4"}
+{"uid":"14251747851760506316","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pink packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pink packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pink packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl 8- drop the chocolate candy into the bowl 9- drop the chocolate candy into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink packet in the bowl 2- Put the orange packet in the bowl 3- Put the kettle blue packet in the basket 4- drop the chocolate candy into the bowl 5- move the basket a side\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pink packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15132049546766102552.mp4"}
+{"uid":"1357658758968699024","text":"\u003ctask:success:discrete:False\u003e\ndrop the chocolate candy into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the chocolate candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the chocolate candy into the bowl 2- drop the chocolate candy into the bowl 3- drop the chocolate candy into the bowl 4- put the chocolate into the bowl 5- Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the chocolate candy into the bowl\n\u003c/PRED\u003e","video":"12134122240245837499.mp4"}
+{"uid":"6915281896911803804","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green colour kettie packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket Q: immediate next step? \u003cPRED\u003eA: put the green colour kettie packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green colour kettie packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green colour kettie packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green colour kettie packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the green colour kettie packet into the basket 2- Put the swedish fish packet in the bowl 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green colour kettie packet into 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":"10461285895042708496.mp4"}
+{"uid":"16556027233950294828","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the bowl 2- drop the chocolate candy into the bowl 3- drop the chocolate candy into the bowl 4- put the chocolate into the bowl 5- Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e","video":"1055520413310584546.mp4"}
+{"uid":"14022910604231010844","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl 5- Put the swedish fish packet in the bowl 6- Put the orange packet in the bowl 7- put the chocolate into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow packet in the bowl 2- drop the chocolate candy into the bowl 3- put the chocolate into the bowl 4- Put the orange packet in the bowl 5- Put the kettle blue packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the yellow packet in the bowl\n\u003c/PRED\u003e","video":"9104723404445177680.mp4"}
+{"uid":"5807195721943248673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green marker in glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2434066060806606232.mp4"}
+{"uid":"14620862970341526417","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the swedish fish packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the swedish fish packet in the bowl 2- Put the orange packet in the bowl 3- put the chocolate into the bowl 4- drop the chocolate candy into the bowl 5- drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: drop the swedish fish bag into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the swedish fish bag into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the swedish fish packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the swedish fish bag into the bowl 2- Put the orange packet in the bowl 3- put the chocolate into the bowl 4- drop the chocolate candy into the bowl 5- drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the swedish fish packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the swedish fish packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the swedish fish bag into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the swedish fish packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the swedish fish bag into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the swedish fish bag into the bowl\n\u003c/PRED\u003e","video":"13791768662557517038.mp4"}
+{"uid":"4588426357592050080","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet into the bowl 2- Put the orange packet in the bowl 3- put the chocolate into the bowl 4- drop the chocolate candy into the bowl 5- drop the chocolate candy into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- Put the white green packet in the basket 2- Put the green kettle packet in the basket 3- Put the swedish fish packet in the bowl 4- Put the swedish fish packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e","video":"10181008835975546143.mp4"}
+{"uid":"11806692514780904893","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the blue ball Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15505427457071318801.mp4"}
+{"uid":"146688640866519527","text":"\u003ctask:success:discrete:True\u003e\ndrop candy into 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: drop candy into organizer\n\u003c/PRED\u003e","video":"12586859001664935526.mp4"}
+{"uid":"12282443820933130218","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11180070907281945903.mp4"}
+{"uid":"13188168782422318948","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15744346968450606681.mp4"}
+{"uid":"7808627194842451928","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put few sugar packets in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer 11- put few sugar packets in a organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer 11- put few sugar packets in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput few sugar packets in a 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:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17281796678519225292.mp4"}
+{"uid":"5337042954591053642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a candy into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4110639652834112241.mp4"}
+{"uid":"10794184457390516220","text":"\u003ctask:success:discrete:True\u003e\ndrop candy into 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: drop candy into organizer\n\u003c/PRED\u003e","video":"542141973140967665.mp4"}
+{"uid":"10690155640879638285","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar packet in a organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar packet in a organizer 2- place pink candy in the tray 3- put few sugar packets in a organizer 4- place 2 white candy in tray 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e","video":"10413424412935342942.mp4"}
+{"uid":"8274573462995116826","text":"\u003ctask:success:discrete:False\u003e\nput the sugar packet in a 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 sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer 11- place 2 white candy in tray Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer 11- place 2 white candy in tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar packet in a organizer 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar packet in a 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":"4717611908877516351.mp4"}
+{"uid":"723951227727136734","text":"\u003ctask:success:discrete:True\u003e\nplace 2 packet brown sugar in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place 2 packet brown sugar in tray\n\u003c/PRED\u003e","video":"6200289926649225650.mp4"}
+{"uid":"9852284633095836361","text":"\u003ctask:success:discrete:False\u003e\nplace white candy in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer 11- place 2 white candy in tray Q: immediate next step? \u003cPRED\u003eA: place white candy in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer 11- place 2 white candy in tray Q: next 5 steps? \u003cPRED\u003eA: 1- place white candy in tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white candy in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white candy in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place white candy in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17590419780598071404.mp4"}
+{"uid":"12822041339106431081","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the paper clip Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16181480592019157616.mp4"}
+{"uid":"12665247462807836268","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a black pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5584753994842853515.mp4"}
+{"uid":"9676954400279471398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packets on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"371685222015601491.mp4"}
+{"uid":"12354262525972143405","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":"2539789451913029808.mp4"}
+{"uid":"4766801641951645255","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sugar packet in a 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":"4105601931715933885.mp4"}
+{"uid":"2289010040259734113","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar packet in a organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- place pink candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar packet in a organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e","video":"14013810881150609402.mp4"}
+{"uid":"10253189573651411264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1668728037963638346.mp4"}
+{"uid":"18202555882063508400","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the lift Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4153171667687531822.mp4"}
+{"uid":"3371862498655967901","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15318614087787386455.mp4"}
+{"uid":"752643279986612850","text":"\u003ctask:success:discrete:True\u003e\nplace white candy in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer 11- place 2 white candy in tray 12- place white candy in tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place white candy in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer 11- place 2 white candy in tray 12- place white candy in tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9357528350799770155.mp4"}
+{"uid":"8307200935689616536","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the game board on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the game board on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the game board on the table 2- open the drawer 3- place packet on the table 4- place packet on the table 5- place packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the game board on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the game board on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer Q: immediate next step? \u003cPRED\u003eA: place the game board on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the game board on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7417844932813203806.mp4"}
+{"uid":"12735144639915132075","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tilted cup up right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4964962255490507882.mp4"}
+{"uid":"239810247566637114","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- place pink candy in the tray 3- put few sugar packets in a organizer 4- place 2 white candy in tray 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into 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":"7275676078325924828.mp4"}
+{"uid":"15827445728993556397","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink candy in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink candy in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: place pink candy in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink candy in tray 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- place pink candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink candy in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink candy in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1303777394486807243.mp4"}
+{"uid":"13063273852721357596","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar packet in a organizer 2- put few sugar packets in a organizer 3- place 2 white candy in tray 4- drop candy into organizer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar packet in a 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 sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e","video":"7750244210032542039.mp4"}
+{"uid":"16750050014659307955","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5475016516154001000.mp4"}
+{"uid":"8763936719155701983","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- drop candy into organizer 3- place pink candy in the tray 4- put few sugar packets in a organizer 5- place 2 white candy in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"8098631733092872232.mp4"}
+{"uid":"15621061050014189862","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place 2 lemon candy in tray 2- place 2 white candy in tray 3- drop candy into organizer 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place 2 lemon candy in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 2 lemon candy in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place 2 lemon candy in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray Q: immediate next step? \u003cPRED\u003eA: place 2 lemon candy in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 2 lemon candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 2 lemon candy in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11567327148878351010.mp4"}
+{"uid":"17160763095769370656","text":"\u003ctask:success:discrete:True\u003e\nplace green candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green candy in the tray\n\u003c/PRED\u003e","video":"17788461602927431988.mp4"}
+{"uid":"9453635894367817188","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put pear on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"2894393113669386645.mp4"}
+{"uid":"7428626876190819440","text":"\u003ctask:success:discrete:True\u003e\ndrop sugar packets in a 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: drop sugar packets in a organizer\n\u003c/PRED\u003e","video":"7971143990247706229.mp4"}
+{"uid":"13922552932197273773","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink candy in the tray 2- place pink candy in the tray 3- put few sugar packets in a organizer 4- place 2 white candy in tray 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: place pink candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink candy in the tray\n\u003c/PRED\u003e","video":"9645660179338548425.mp4"}
+{"uid":"14643511272071094464","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tong 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":"18139581678955723375.mp4"}
+{"uid":"7212439588664741144","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the purple candy in the right side tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7097008782039410068.mp4"}
+{"uid":"584612425934476244","text":"\u003ctask:success:discrete:True\u003e\ndrop candy into 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: drop candy into organizer\n\u003c/PRED\u003e","video":"4075641967322697208.mp4"}
+{"uid":"13347496874399522179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11624097697972493208.mp4"}
+{"uid":"15963693532784791909","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink candy in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pink candy in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16075372343046072784.mp4"}
+{"uid":"3092111061773879351","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table 6- put pear on the table 7- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table 6- put pear on the table 7- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put pear on the table 3- done\n\u003c/PRED\u003e","video":"13806227501644067488.mp4"}
+{"uid":"7735312930563607231","text":"\u003ctask:success:discrete:True\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"6283809827889996522.mp4"}
+{"uid":"5391004720139834766","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: place pink candy in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink candy in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink candy in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink candy in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink candy in tray 2- drop candy into organizer 3- drop candy into organizer 4- place pink candy in the tray 5- put few sugar packets in a organizer\n\u003c/PRED\u003e","video":"1351130794087715722.mp4"}
+{"uid":"2488473380042083865","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into 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":"14719265732712973975.mp4"}
+{"uid":"13002519543197845486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"799859260872291168.mp4"}
+{"uid":"13817229892008468794","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: place pink candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink candy in the tray 2- put few sugar packets in a organizer 3- place 2 white candy in tray 4- drop candy into organizer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink candy in the tray\n\u003c/PRED\u003e","video":"3099086493086169604.mp4"}
+{"uid":"12900117714562970600","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put pear on the table 3- put pear on the table 4- put pear on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"5174259286541056671.mp4"}
+{"uid":"14735039253999414961","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to the coconut tetra pack in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5616304525040899709.mp4"}
+{"uid":"15923924599933175312","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar packet in a 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar packet in a organizer 2- drop candy into organizer 3- place pink candy in the tray 4- put few sugar packets in a organizer 5- place 2 white candy in tray\n\u003c/PRED\u003e","video":"12565895370591439166.mp4"}
+{"uid":"3213138707577016551","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- place pink candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"11058884970376098717.mp4"}
+{"uid":"13166574455112006818","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12924263558158620779.mp4"}
+{"uid":"5842363743120039078","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place green candy in tray 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- place pink candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green candy in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green candy in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green candy in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: place green candy in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place green candy in tray\n\u003c/PRED\u003e","video":"6280605502423191929.mp4"}
+{"uid":"6880357580332817997","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer 11- place 2 white candy in tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 2 white candy in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer 11- place 2 white candy in tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place 2 white candy in tray\n\u003c/PRED\u003e","video":"4795128417511221063.mp4"}
+{"uid":"15820395433074437189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Plastic knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"250553839765174373.mp4"}
+{"uid":"5171308236560170123","text":"\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer. last 20 steps: 1- place the game board on the table 2- open the drawer 3- place packet on the table 4- place packet on the table 5- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer. last 20 steps: 1- place the game board on the table 2- open the drawer 3- place packet on the table 4- place packet on the table 5- place packet on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"10439923889228769074.mp4"}
+{"uid":"179627653787973864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"985875327693133706.mp4"}
+{"uid":"16227499411326838738","text":"\u003ctask:success:discrete:False\u003e\nput few sugar packets in a 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 few sugar packets in a 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 few sugar packets in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put few sugar packets in a organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put few sugar packets in a organizer 2- place 2 white candy in tray 3- drop candy into organizer 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put few sugar packets in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray Q: immediate next step? \u003cPRED\u003eA: put few sugar packets in a organizer\n\u003c/PRED\u003e","video":"14324818111121101548.mp4"}
+{"uid":"6848035465842417227","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into 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:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer 11- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer 11- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12628359475968932144.mp4"}
+{"uid":"16900954518549105104","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sugar packet in a 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":"507486677312532507.mp4"}
+{"uid":"1335505433379447226","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into 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: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"14394282378703618399.mp4"}
+{"uid":"6535443592225293382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the book in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9981498170090081726.mp4"}
+{"uid":"17953960358645668837","text":"\u003ctask:success:discrete:False\u003e\ndrop sugar packets in a organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop sugar packets in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop sugar packets in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop sugar packets in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop sugar packets in a 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: drop sugar packets in a organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop sugar packets in a organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e","video":"4744195291563651426.mp4"}
+{"uid":"8406189738673783544","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put few sugar packets in a organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput few sugar packets in a 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":"18218359732028416530.mp4"}
+{"uid":"3555380446344855689","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the game board backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer. last 20 steps: 1- place the game board on the table 2- open the drawer 3- place packet on the table 4- place packet on the table 5- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the game board backward 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the game board 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:success:discrete:False\u003e\nmove the game board backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the game board backward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer. last 20 steps: 1- place the game board on the table 2- open the drawer 3- place packet on the table 4- place packet on the table 5- place packet on the table Q: immediate next step? \u003cPRED\u003eA: move the game board backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer Q: immediate next step? \u003cPRED\u003eA: move the game board backward\n\u003c/PRED\u003e","video":"7647672892956545960.mp4"}
+{"uid":"4701527466808440879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4947872077678394483.mp4"}
+{"uid":"83843686550418792","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 2 white candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place 2 white candy in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place 2 white candy in tray 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 2 white candy in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer Q: immediate next step? \u003cPRED\u003eA: place 2 white candy in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 2 white candy in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place 2 white candy in tray\n\u003c/PRED\u003e","video":"988951423987260346.mp4"}
+{"uid":"13581574364265573311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14933951545212789605.mp4"}
+{"uid":"6609751447956275606","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5739736891029512942.mp4"}
+{"uid":"7657748898600522920","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5943803302988104307.mp4"}
+{"uid":"16021159024886808176","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table 6- put pear on the table 7- put pear on the table 8- put pear on the table 9- put pear on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table 6- put pear on the table 7- put pear on the table 8- put pear on the table 9- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15878761392401540195.mp4"}
+{"uid":"18112844221116331648","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy into 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":"10736408061700606002.mp4"}
+{"uid":"10756860994165537678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from the white glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9000865874470525049.mp4"}
+{"uid":"5034609735499491777","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table 6- put pear on the table 7- put pear on the table 8- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table 6- put pear on the table 7- put pear on the table 8- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"13194042508345266991.mp4"}
+{"uid":"3715289994738700567","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":"5810276064779919572.mp4"}
+{"uid":"4492765513234669541","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14636611130036021587.mp4"}
+{"uid":"12310274487519176364","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick a yellow object 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":"18431339903027323543.mp4"}
+{"uid":"2804931656066889451","text":"\u003ctask:success:discrete:True\u003e\ndrop candy into 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: drop candy into organizer\n\u003c/PRED\u003e","video":"4914208636777839204.mp4"}
+{"uid":"5685842470955064397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack cups on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12474095105551049744.mp4"}
+{"uid":"13651596688289307132","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3323131256893548920.mp4"}
+{"uid":"5634830190357608","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the game board on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the game board 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":"18439150079529182420.mp4"}
+{"uid":"9639751281325751329","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put few sugar packets in a organizer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put few sugar packets in a organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put few sugar packets in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put few sugar packets in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput few sugar packets in a organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer Q: immediate next step? \u003cPRED\u003eA: put few sugar packets in a organizer\n\u003c/PRED\u003e","video":"17119955483880417341.mp4"}
+{"uid":"12311478452718380182","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table 6- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table 6- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put pear on the table 3- put pear on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16246687990171786628.mp4"}
+{"uid":"7767062045791444362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic knife 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":"1104355551783580273.mp4"}
+{"uid":"9562726854828425361","text":"\u003ctask:success:discrete:True\u003e\nput the sugar packet in a 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 sugar packet in a organizer\n\u003c/PRED\u003e","video":"3742186769488875711.mp4"}
+{"uid":"8525245236703133515","text":"\u003ctask:success:discrete:True\u003e\nput the sugar packet in a 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 sugar packet in a organizer\n\u003c/PRED\u003e","video":"9185021090955814332.mp4"}
+{"uid":"5509812604350910518","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place 2 lemon candy in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 2 lemon candy in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13229117324490395652.mp4"}
+{"uid":"13068475439177335652","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue chip bag on the right side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16283285981632817316.mp4"}
+{"uid":"3515876554120300456","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"13008391306157191908.mp4"}
+{"uid":"9990988652925721382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake the green can to the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7126704258860447494.mp4"}
+{"uid":"3667151123454923912","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"1829512622235416982.mp4"}
+{"uid":"14962025421334458731","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green candy in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green candy in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16437006310448607073.mp4"}
+{"uid":"16978133919707593833","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into 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":"9842080155827836867.mp4"}
+{"uid":"16523699666216218654","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table\n\u003c/PRED\u003e","video":"11500163415595218863.mp4"}
+{"uid":"14980047337840074767","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar packet in a organizer 2- drop candy into organizer 3- drop candy into organizer 4- place pink candy in the tray 5- put few sugar packets in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar packet in a 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":"2265904910099461268.mp4"}
+{"uid":"856903990470396145","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput apple 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":"375162740247782749.mp4"}
+{"uid":"14374781886735966694","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer. last 20 steps: 1- place the game board on the table 2- open the drawer 3- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- place packet on the table 3- close the drawer 4- move the game board backward 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer. last 20 steps: 1- place the game board on the table 2- open the drawer 3- place packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e","video":"16972523614351280973.mp4"}
+{"uid":"13869169068203638205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17172618005629278840.mp4"}
+{"uid":"5172687464666600866","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown sugar in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown sugar in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place brown sugar in tray 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown sugar in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace brown sugar in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: place brown sugar in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown sugar in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4915680719725607330.mp4"}
+{"uid":"10913644310246511127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6166751723816497852.mp4"}
+{"uid":"11562256365495504604","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in the right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6337546945891186595.mp4"}
+{"uid":"11786359940316757426","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar packet in a organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar packet in a organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e","video":"6747597276547388321.mp4"}
+{"uid":"13250693473758870857","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"4345628774074701955.mp4"}
+{"uid":"11113351784985810830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14991113328235233653.mp4"}
+{"uid":"10833587697847061439","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the mouse 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":"4447170674300028532.mp4"}
+{"uid":"15794481402896014423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the basket on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5812059893816924107.mp4"}
+{"uid":"18211783299148847144","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- place 2 white candy in tray 3- drop candy into organizer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into 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\ndrop candy into organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"4527449257697362279.mp4"}
+{"uid":"14032037792049789366","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy into 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":"13692320731147186961.mp4"}
+{"uid":"7386274704178621381","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"10824514043670565430.mp4"}
+{"uid":"1969951389072532787","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"14355161081354931455.mp4"}
+{"uid":"15728927069455832216","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":"14293742035657943376.mp4"}
+{"uid":"7078114515679422833","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the soft toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3647329897163186176.mp4"}
+{"uid":"13713693307479714196","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15822376591775628860.mp4"}
+{"uid":"8408821924885278721","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sugar packet in a organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar packet in a organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar packet in a 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":"13393814952872037349.mp4"}
+{"uid":"3016869078842919745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the guava in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3884701515630126641.mp4"}
+{"uid":"3385212724836171343","text":"\u003ctask:success:discrete:True\u003e\nplace pink candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink candy in the tray\n\u003c/PRED\u003e","video":"6946220403624677229.mp4"}
+{"uid":"2491462381218078563","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- place pink candy in the tray 5- put few sugar packets in a organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy into 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: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy into organizer\n\u003c/PRED\u003e","video":"16073301612089307201.mp4"}
+{"uid":"13244372377083854807","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: place green candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place green candy in the tray 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place green candy in the tray\n\u003c/PRED\u003e","video":"11268465980301002773.mp4"}
+{"uid":"6680468550035721845","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup 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":"17970485587968830.mp4"}
+{"uid":"1747865752823443460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the belt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17979155090431350153.mp4"}
+{"uid":"10481260480426405666","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer. last 20 steps: 1- place the game board on the table 2- open the drawer Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer. last 20 steps: 1- place the game board on the table 2- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- place packet on the table 3- place packet on the table 4- close the drawer 5- move the game board backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e","video":"6271210640089913007.mp4"}
+{"uid":"276004297891125159","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fruit near orange can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"57539452043431047.mp4"}
+{"uid":"4234727090822456554","text":"\u003ctask:success:discrete:True\u003e\ndrop candy into 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: drop candy into organizer\n\u003c/PRED\u003e","video":"12668720501475927110.mp4"}
+{"uid":"2441348271965330023","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":"9084541799316127318.mp4"}
+{"uid":"4982708205455347519","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2368184942999180979.mp4"}
+{"uid":"8833374107151349409","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- put pear on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the fruits out of the bowl. Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"8026622820283137286.mp4"}
+{"uid":"1331674977308273675","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer. last 20 steps: 1- place the game board on the table Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 please grab the pieces to the boardgame in the drawer. last 20 steps: 1- place the game board on the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place packet on the table 3- place packet on the table 4- place packet on the table 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"9779840093942495163.mp4"}
+{"uid":"17693182129164140248","text":"\u003ctask:success:discrete:False\u003e\nplace packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer. last 20 steps: 1- place the game board on the table 2- open the drawer 3- place packet on the table 4- place packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- close the drawer 3- move the game board backward 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please grab the pieces to the boardgame in the drawer. last 20 steps: 1- place the game board on the table 2- open the drawer 3- place packet on the table 4- place packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e","video":"17907134600360627559.mp4"}
+{"uid":"5644480224925500295","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sugar packet in a organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sugar packet in a organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer 11- place 2 white candy in tray 12- put the sugar packet in a organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer 7- drop candy into organizer 8- drop candy into organizer 9- place pink candy in the tray 10- put few sugar packets in a organizer 11- place 2 white candy in tray 12- put the sugar packet in a organizer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"13877368991167849775.mp4"}
+{"uid":"4283690480515256765","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer Q: immediate next step? \u003cPRED\u003eA: place pink candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- drop candy into organizer 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer 6- drop candy into organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink candy in the tray 2- place pink candy in the tray 3- put few sugar packets in a organizer 4- place 2 white candy in tray 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink candy in the tray\n\u003c/PRED\u003e","video":"15068259723206961045.mp4"}
+{"uid":"10438714535613432329","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place 2 packet brown sugar in tray 2- drop candy into organizer 3- drop candy into organizer 4- drop candy into organizer 5- drop candy into organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place 2 packet brown sugar in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 2 packet brown sugar in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place 2 packet brown sugar in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 2 packet brown sugar in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 2 packet brown sugar in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place 2 packet brown sugar in tray\n\u003c/PRED\u003e","video":"3563918218141163970.mp4"}
+{"uid":"13480300217696587103","text":"\u003ctask:success:discrete:True\u003e\nplace packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e","video":"13779094264541211786.mp4"}
+{"uid":"5972067682163608894","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch 4- Go close to the black pillow Q: immediate next step? \u003cPRED\u003eA: Grasp the pillow\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch 4- Go close to the black pillow Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the pillow 2- Move the pillow upwards 3- Place the pillow to the left of the brown pillow 4- move to the brown pillow 5- Grasp the brown pillow\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it Q: immediate next step? \u003cPRED\u003eA: Grasp the pillow\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the pillow\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the pillow\n\u003c/PRED\u003e","video":"5132296738842746850.mp4"}
+{"uid":"8760962786200408601","text":"\u003ctask:success:discrete:True\u003e\nMove out of the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e","video":"15778540404988449516.mp4"}
+{"uid":"14051348547653094923","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2540949569393320274.mp4"}
+{"uid":"3121521052448513718","text":"\u003ctask:success:discrete:True\u003e\nGrasp the pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the pillow\n\u003c/PRED\u003e","video":"13648258484926572690.mp4"}
+{"uid":"5985716214255629524","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the pillow upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch 4- Go close to the black pillow 5- Grasp the pillow Q: next 5 steps? \u003cPRED\u003eA: 1- Move the pillow upwards 2- Place the pillow to the left of the brown pillow 3- move to the brown pillow 4- Grasp the brown pillow 5- Go to the right pillow\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the pillow upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the pillow upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch 4- Go close to the black pillow 5- Grasp the pillow Q: immediate next step? \u003cPRED\u003eA: Move the pillow upwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it Q: immediate next step? \u003cPRED\u003eA: Move the pillow upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the pillow upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5481599082302001790.mp4"}
+{"uid":"4706518883447665978","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch 4- Go close to the black pillow 5- Grasp the pillow 6- Move the pillow upwards 7- Place the pillow to the left of the brown pillow 8- move to the brown pillow 9- Grasp the brown pillow 10- Go to the right pillow Q: immediate next step? \u003cPRED\u003eA: Move away from the right pillow\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the right pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 away from the right pillow\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the right pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 right pillow\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it Q: immediate next step? \u003cPRED\u003eA: Move away from the right pillow\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch 4- Go close to the black pillow 5- Grasp the pillow 6- Move the pillow upwards 7- Place the pillow to the left of the brown pillow 8- move to the brown pillow 9- Grasp the brown pillow 10- Go to the right pillow Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the right pillow 2- done\n\u003c/PRED\u003e","video":"15460490633151941850.mp4"}
+{"uid":"18394562118510480790","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch 4- Go close to the black pillow 5- Grasp the pillow\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it Q: immediate next step? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove out of the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove out of the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e","video":"7087228550805414973.mp4"}
+{"uid":"6869532216874543326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6595351749983622913.mp4"}
+{"uid":"71445084046291886","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":"10056388772485540366.mp4"}
+{"uid":"5833056477624111332","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":"5638488568237702961.mp4"}
+{"uid":"5262703881680602508","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pillow to the left of the brown pillow\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pillow to the left of the brown pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4099146474745436762.mp4"}
+{"uid":"12707920463164923235","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput paper bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15773647511262260339.mp4"}
+{"uid":"6345256511762564279","text":"\u003ctask:success:discrete:True\u003e\nGrasp the brown pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the brown pillow\n\u003c/PRED\u003e","video":"1793549027571616488.mp4"}
+{"uid":"10353326407124325861","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch 4- Go close to the black pillow 5- Grasp the pillow 6- Move the pillow upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pillow to the left of the brown pillow 2- move to the brown pillow 3- Grasp the brown pillow 4- Go to the right pillow 5- Move away from the right pillow\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pillow to the left of the brown pillow\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pillow to the left of the brown pillow\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it Q: immediate next step? \u003cPRED\u003eA: Place the pillow to the left of the brown pillow\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pillow to the left of the brown pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 pillow to the left of the brown pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch 4- Go close to the black pillow 5- Grasp the pillow 6- Move the pillow upwards Q: immediate next step? \u003cPRED\u003eA: Place the pillow to the left of the brown pillow\n\u003c/PRED\u003e","video":"11644760246654271303.mp4"}
+{"uid":"15368781942467861737","text":"\u003ctask:success:discrete:False\u003e\nGo to the couch Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 couch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 couch\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway Q: immediate next step? \u003cPRED\u003eA: Go to the couch\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the couch 2- Go close to the black pillow 3- Grasp the pillow 4- Move the pillow upwards 5- Place the pillow to the left of the brown pillow\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it Q: immediate next step? \u003cPRED\u003eA: Go to the couch\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the couch\n\u003c/PRED\u003e","video":"12484696808646828397.mp4"}
+{"uid":"8619706068232781579","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the brown pillow\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it Q: immediate next step? \u003cPRED\u003eA: move to the brown pillow\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch 4- Go close to the black pillow 5- Grasp the pillow 6- Move the pillow upwards 7- Place the pillow to the left of the brown pillow Q: next 5 steps? \u003cPRED\u003eA: 1- move to the brown pillow 2- Grasp the brown pillow 3- Go to the right pillow 4- Move away from the right pillow 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the brown pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch 4- Go close to the black pillow 5- Grasp the pillow 6- Move the pillow upwards 7- Place the pillow to the left of the brown pillow Q: immediate next step? \u003cPRED\u003eA: move to the brown pillow\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the brown pillow\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the brown pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2316041923866266206.mp4"}
+{"uid":"11276442653719934349","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go close to the black pillow\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it Q: immediate next step? \u003cPRED\u003eA: Go close to the black pillow\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch Q: immediate next step? \u003cPRED\u003eA: Go close to the black pillow\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo close to the black pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 close to the black pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch Q: next 5 steps? \u003cPRED\u003eA: 1- Go close to the black pillow 2- Grasp the pillow 3- Move the pillow upwards 4- Place the pillow to the left of the brown pillow 5- move to the brown pillow\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go close to the black pillow\n\u003c/PRED\u003e","video":"14004844175563451653.mp4"}
+{"uid":"12342787171841711405","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":"15161455651548854975.mp4"}
+{"uid":"17222364631787347111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5537645256827252413.mp4"}
+{"uid":"17711153026367449657","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the brown pillow\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the brown pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11454510750150303911.mp4"}
+{"uid":"7075219143095925293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the forks into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2319997743677190481.mp4"}
+{"uid":"12645377069079930236","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it Q: immediate next step? \u003cPRED\u003eA: Drive forward in the hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room Q: next 5 steps? \u003cPRED\u003eA: 1- Drive forward in the hallway 2- Go to the couch 3- Go close to the black pillow 4- Grasp the pillow 5- Move the pillow upwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drive forward in the hallway\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrive forward in the hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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\nDrive forward in the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room Q: immediate next step? \u003cPRED\u003eA: Drive forward in the hallway\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drive forward in the hallway\n\u003c/PRED\u003e","video":"4958508656556622408.mp4"}
+{"uid":"9044544003785441970","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drive forward in the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrive forward in the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6530391941824689708.mp4"}
+{"uid":"14043474372032013076","text":"\u003ctask:success:discrete:True\u003e\nMove the pillow upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the pillow upwards\n\u003c/PRED\u003e","video":"5900371445886905163.mp4"}
+{"uid":"9447272085042512008","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red pen on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16775382606297416513.mp4"}
+{"uid":"4722626161457707011","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the popcorn packet from the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5503514474028995928.mp4"}
+{"uid":"6921986796681779350","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch 4- Go close to the black pillow 5- Grasp the pillow 6- Move the pillow upwards 7- Place the pillow to the left of the brown pillow 8- move to the brown pillow 9- Grasp the brown pillow Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the right pillow 2- Move away from the right pillow 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the right pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 the cushions on the sofa to prepare for someone to sit on it Q: immediate next step? \u003cPRED\u003eA: Go to the right pillow\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the right pillow\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the right pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch 4- Go close to the black pillow 5- Grasp the pillow 6- Move the pillow upwards 7- Place the pillow to the left of the brown pillow 8- move to the brown pillow 9- Grasp the brown pillow Q: immediate next step? \u003cPRED\u003eA: Go to the right pillow\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the right pillow\n\u003c/PRED\u003e","video":"5297781207517560880.mp4"}
+{"uid":"13201010561715128951","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":"9004263666552093971.mp4"}
+{"uid":"17624312193426320430","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the brown pillow\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the brown pillow\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the brown pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 the cushions on the sofa to prepare for someone to sit on it Q: immediate next step? \u003cPRED\u003eA: Grasp the brown pillow\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch 4- Go close to the black pillow 5- Grasp the pillow 6- Move the pillow upwards 7- Place the pillow to the left of the brown pillow 8- move to the brown pillow Q: immediate next step? \u003cPRED\u003eA: Grasp the brown pillow\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the cushions on the sofa to prepare for someone to sit on it. last 20 steps: 1- Move out of the room 2- Drive forward in the hallway 3- Go to the couch 4- Go close to the black pillow 5- Grasp the pillow 6- Move the pillow upwards 7- Place the pillow to the left of the brown pillow 8- move to the brown pillow Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the brown pillow 2- Go to the right pillow 3- Move away from the right pillow 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the brown pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10515169691144493978.mp4"}
+{"uid":"13189272649796151395","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the couch\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the couch Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12142003886812422404.mp4"}
+{"uid":"4269998063225561194","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16569834140154615657.mp4"}
+{"uid":"2893482262282794208","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup 3- put the knife in the cup Q: immediate next step? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knife in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup 3- put the knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the knife in the cup 2- done\n\u003c/PRED\u003e","video":"5058497377185670973.mp4"}
+{"uid":"9192246864609433378","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knife into the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14857584077502392627.mp4"}
+{"uid":"7373737355457254315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10592510248224315494.mp4"}
+{"uid":"14455944628295063923","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the marker on 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":"13809136606159332595.mp4"}
+{"uid":"15067942189054417648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a yellow marker into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4244610860032790201.mp4"}
+{"uid":"8104860856395006108","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the drawer 2- Put the orange in the drawer 3- Put the pear in the drawer 4- Put the orange in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e","video":"13495213380911939537.mp4"}
+{"uid":"5804263692783044959","text":"\u003ctask:success:discrete:False\u003e\nput the banana in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer 13- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer 13- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the drawer 2- Close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"653748241994011891.mp4"}
+{"uid":"13530516478720858001","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup 3- put the knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the cup 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup 3- put the knife in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the cup\n\u003c/PRED\u003e","video":"1273541385620740288.mp4"}
+{"uid":"11568298107921186006","text":"\u003ctask:success:discrete:True\u003e\ndrop the yellow peer in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow peer in a drawer\n\u003c/PRED\u003e","video":"4592100843610272562.mp4"}
+{"uid":"16542129084317103565","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange in a drawer 2- Put the pear in the drawer 3- Put the orange in the drawer 4- Put the orange in the drawer 5- Put the pear in the drawer\n\u003c/PRED\u003e","video":"7260790042882230931.mp4"}
+{"uid":"1176552009838118510","text":"\u003ctask:success:discrete:False\u003e\nput the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the drawer 2- Put the pear in the drawer 3- Put the orange in the drawer 4- Put the orange in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18264870900961234503.mp4"}
+{"uid":"3229373569391947750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the battery in 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":"10111321763799512422.mp4"}
+{"uid":"12423845765103672248","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the drawer 2- Put the orange in the drawer 3- Put the orange in the drawer 4- Put the banana in the drawer 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pear in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e","video":"13396002443170303198.mp4"}
+{"uid":"10073319520208552537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8849830199451020009.mp4"}
+{"uid":"4140902019754633431","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the drawer 2- Put the banana in the drawer 3- Close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"812525552268250134.mp4"}
+{"uid":"10028173594442984647","text":"\u003ctask:success:discrete:True\u003e\nput the pear in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pear in the drawer\n\u003c/PRED\u003e","video":"5063585099744720439.mp4"}
+{"uid":"2230750789896067217","text":"\u003ctask:success:discrete:True\u003e\nPut the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e","video":"3886258953055357600.mp4"}
+{"uid":"13779334887457558411","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the banana in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3289651417575012018.mp4"}
+{"uid":"8345804892508505122","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange in a 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":"13132430076218886042.mp4"}
+{"uid":"9148674969418675791","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e","video":"5903783808635338080.mp4"}
+{"uid":"5974201963318016828","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":"425591425920102595.mp4"}
+{"uid":"12650591873419596828","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chips packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15604786460894727890.mp4"}
+{"uid":"8191218548748416553","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the drawer 2- Put the pear in the drawer 3- Put the orange in the drawer 4- Put the orange in the drawer 5- Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e","video":"12498132486783186295.mp4"}
+{"uid":"10240349253753978953","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":"10700925062317515539.mp4"}
+{"uid":"15882849227563485004","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"204821243341610864.mp4"}
+{"uid":"9721771948834704159","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut plastic knife in a glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put plastic knife in a glass.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup 3- put the knife in the cup Q: immediate next step? \u003cPRED\u003eA: Put plastic knife in a glass.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup 3- put the knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put plastic knife in a glass. 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: Put plastic knife in a glass.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put plastic knife in a glass.\n\u003c/PRED\u003e","video":"13536075755457214952.mp4"}
+{"uid":"7682352711813406734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"198768387206303949.mp4"}
+{"uid":"13117225596114476681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12320962664847564117.mp4"}
+{"uid":"3775079002359703564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue chocolate into the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18115344037913709150.mp4"}
+{"uid":"2834785040731144683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fruits 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":"15425287228149691363.mp4"}
+{"uid":"12712557985489141360","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":"13528054346125769823.mp4"}
+{"uid":"804501733157448365","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Erase doodle from the whiteboard. last 20 steps: 1- Pick up the piece of the cloth Q: immediate next step? \u003cPRED\u003eA: Erase the content written on the board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Erase the content written on the board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Erase doodle from the whiteboard Q: immediate next step? \u003cPRED\u003eA: Erase the content written on the board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nErase the content written on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Erase the content written on the board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nErase the content written on the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Erase doodle from the whiteboard. last 20 steps: 1- Pick up the piece of the cloth Q: next 5 steps? \u003cPRED\u003eA: 1- Erase the content written on the board 2- Put the piece of the cloth back on the old place 3- done\n\u003c/PRED\u003e","video":"6105243321409098900.mp4"}
+{"uid":"4716822357160843806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the orange from 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":"3917474109855156203.mp4"}
+{"uid":"12622845200747037002","text":"\u003ctask:success:discrete:True\u003e\nPut the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e","video":"2825840975750881508.mp4"}
+{"uid":"9684041352596807882","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the yellow 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":"5538582231372159062.mp4"}
+{"uid":"14476235235538868366","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11496613619158656529.mp4"}
+{"uid":"10604016160437127055","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic fork in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7611283415526700939.mp4"}
+{"uid":"13719108095618813203","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4679002758073423065.mp4"}
+{"uid":"11059781174773669180","text":"\u003ctask:success:discrete:True\u003e\nPut second orange in a glass. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put second orange in a glass.\n\u003c/PRED\u003e","video":"7077355747858059325.mp4"}
+{"uid":"16599358231428528456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red pen in pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2779724806516543293.mp4"}
+{"uid":"7665277512926052584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11267864154580646620.mp4"}
+{"uid":"14502750659872652044","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow 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":"5204609190608129939.mp4"}
+{"uid":"8801248303750314849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen right side of box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11138295175825614659.mp4"}
+{"uid":"1311119027610926883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16778102811754008881.mp4"}
+{"uid":"2683091883486491216","text":"\u003ctask:success:discrete:True\u003e\nPut the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e","video":"16237184424089219811.mp4"}
+{"uid":"10086802495207533195","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange in a drawer 2- Put the banana in the drawer 3- Close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e","video":"3282717146483975955.mp4"}
+{"uid":"14684147036081715916","text":"\u003ctask:success:discrete:True\u003e\nPut the pear in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pear in the drawer\n\u003c/PRED\u003e","video":"3062538489422886894.mp4"}
+{"uid":"12874614307501136031","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange in a drawer 2- Put the pear in the drawer 3- Put the orange in the drawer 4- Put the orange in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange in a 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":"8035389847467291238.mp4"}
+{"uid":"15276225665408569892","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the drawer 2- Put the orange in the drawer 3- Put the pear in the drawer 4- Put the orange in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e","video":"11677447235605726463.mp4"}
+{"uid":"422501988251866575","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white can in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2511011411544943092.mp4"}
+{"uid":"16467268676544166590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"61590905688169832.mp4"}
+{"uid":"13911150395334884945","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange in a drawer 2- Put the orange in the drawer 3- Put the pear in the drawer 4- Put the orange in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e","video":"1634655568842578573.mp4"}
+{"uid":"9690960485750728576","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic knife in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the cup 2- put the knife in the cup 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the cup\n\u003c/PRED\u003e","video":"610818820064056695.mp4"}
+{"uid":"1032561247131685514","text":"\u003ctask:success:discrete:False\u003e\nPut the pear in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the drawer 2- Put the orange in the drawer 3- Put the orange in the drawer 4- Put the pear in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer Q: immediate next step? \u003cPRED\u003eA: Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pear in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pear in the drawer\n\u003c/PRED\u003e","video":"14826044505929975262.mp4"}
+{"uid":"11885454732621219829","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16141263613249250201.mp4"}
+{"uid":"1472427404017435763","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the drawer 2- Put the orange in the drawer 3- Put the banana in the drawer 4- Close the drawer 5- done\n\u003c/PRED\u003e","video":"6032737487220074398.mp4"}
+{"uid":"209573827988374091","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pear in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pear in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pear in the drawer 2- Put the orange in the drawer 3- Put the orange in the drawer 4- Put the pear in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e","video":"8309720338819409407.mp4"}
+{"uid":"9510045188686028270","text":"\u003ctask:success:discrete:True\u003e\nPut an orange in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put an orange in the cup\n\u003c/PRED\u003e","video":"15390898618345077306.mp4"}
+{"uid":"3789799927478167159","text":"\u003ctask:success:discrete:False\u003e\nPut plastic knife in a glass. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup Q: immediate next step? \u003cPRED\u003eA: Put plastic knife in a glass.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: Put plastic knife in a glass.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put plastic knife in a glass.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put plastic knife in a glass.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put plastic knife in a glass. 2- put the knife in the cup 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut plastic knife in a glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5485032896952859450.mp4"}
+{"uid":"17780395360896343468","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green peer s in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green peer s in a drawer 2- Put the orange in the drawer 3- Put the orange in the drawer 4- Put the banana in the drawer 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green peer s in a 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: drop the green peer s in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green peer s in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: drop the green peer s in a drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the green peer s in a drawer\n\u003c/PRED\u003e","video":"10333144644545441143.mp4"}
+{"uid":"13446550856124673270","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pear in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16112493268413609425.mp4"}
+{"uid":"5655856479415671584","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange in a drawer 2- Put the pear in the drawer 3- Put the orange in the drawer 4- Put the orange in the drawer 5- Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e","video":"1770217729331675791.mp4"}
+{"uid":"3667348614927141489","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the drawer 2- Put the orange in the drawer 3- Put the banana in the drawer 4- Close the drawer 5- done\n\u003c/PRED\u003e","video":"16105908136478696366.mp4"}
+{"uid":"14504864790756464178","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2707794592559151259.mp4"}
+{"uid":"2570931260637224903","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":"16717582703000817191.mp4"}
+{"uid":"1759388726774375034","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange in a 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":"17083428418842350958.mp4"}
+{"uid":"7799734267349603934","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow peer in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer Q: immediate next step? \u003cPRED\u003eA: drop the yellow peer in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow peer in a drawer 2- Put the orange in the drawer 3- Put the orange in the drawer 4- Put the pear in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow peer in a drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the yellow peer in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow peer in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow peer in a 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":"5314218612429168984.mp4"}
+{"uid":"5315565255366033631","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the drawer 2- Put the pear in the drawer 3- Put the orange in the drawer 4- Put the orange in the drawer 5- Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8914398698547884614.mp4"}
+{"uid":"9887757210718565264","text":"\u003ctask:success:discrete:False\u003e\nput the knife in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knife in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the knife in the cup 2- put the knife in the cup 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e","video":"5241410145953707986.mp4"}
+{"uid":"17849178071333018014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly pick up the left pillow from the sofa Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3951107542481292300.mp4"}
+{"uid":"7424028879978212692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork in forks holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10774044705946066225.mp4"}
+{"uid":"5028371190891439006","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11545840537384305302.mp4"}
+{"uid":"11962949326669614791","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the drawer 2- Put the pear in the drawer 3- Put the orange in the drawer 4- Put the orange in the drawer 5- Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the drawer\n\u003c/PRED\u003e","video":"16968632524490524242.mp4"}
+{"uid":"14156791704476281924","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Erase the content written on the board\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nErase the content written on the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"967133197166434547.mp4"}
+{"uid":"10731323672240417815","text":"\u003ctask:success:discrete:True\u003e\ndrop the green peer s in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the green peer s in a drawer\n\u003c/PRED\u003e","video":"4840131118890784655.mp4"}
+{"uid":"3531427724199089879","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the drawer 2- Put the pear in the drawer 3- Put the orange in the drawer 4- Put the orange in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e","video":"15350192243430045989.mp4"}
+{"uid":"11886854155093085616","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":"11206320716086740344.mp4"}
+{"uid":"6473675533171909757","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange yellow packet outside 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":"185851436194612533.mp4"}
+{"uid":"13359515923112937268","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"1063321501584323242.mp4"}
+{"uid":"4177381362041724766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6411816555063505842.mp4"}
+{"uid":"281672465035158058","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the piece of the cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the piece of the cloth Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6472793570410832764.mp4"}
+{"uid":"539945586020125549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pencil on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1984560478951455534.mp4"}
+{"uid":"5066089445139274223","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange in a glass. 2- put the orange in the paper cup 3- put the knife in the cup 4- put the knife in the cup 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: Put orange in a glass.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut orange in a glass. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange in a glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange in a glass.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put orange in a glass.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange in a glass.\n\u003c/PRED\u003e","video":"13095304483622037813.mp4"}
+{"uid":"16136965262181999804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16131401918391164730.mp4"}
+{"uid":"9572290984967723075","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the knife in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2750339224493180720.mp4"}
+{"uid":"16870509017691936118","text":"\u003ctask:success:discrete:True\u003e\ndrop the banana in a   drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer 13- Put the orange in the drawer 14- drop the banana in a   drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer 13- Put the orange in the drawer 14- drop the banana in a   drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the banana in a   drawer\n\u003c/PRED\u003e","video":"3974306145348179460.mp4"}
+{"uid":"944979986547274160","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the piece of the cloth\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Erase doodle from the whiteboard Q: immediate next step? \u003cPRED\u003eA: Pick up the piece of the cloth\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the piece of the cloth\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the piece of the cloth Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Erase doodle from the whiteboard. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the piece of the cloth 2- Erase the content written on the board 3- Put the piece of the cloth back on the old place 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Erase doodle from the whiteboard. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the piece of the cloth\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the piece of the cloth Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10175515359556290107.mp4"}
+{"uid":"7309378893491377982","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the paper cup 2- put the orange in the paper cup 3- put the knife in the cup 4- put the knife in the cup 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e","video":"6175070802334307276.mp4"}
+{"uid":"6280368042157368209","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14782287231974994176.mp4"}
+{"uid":"298833823145634622","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer 13- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the drawer 2- Close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer 13- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the drawer\n\u003c/PRED\u003e","video":"15161118531486531164.mp4"}
+{"uid":"2194785151911110603","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer 13- Put the orange in the drawer 14- Put the banana in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer 13- Put the orange in the drawer 14- Put the banana in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"6818652234683181979.mp4"}
+{"uid":"15288022773010548708","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an orange in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put an orange in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an orange in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an orange in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put an orange in the cup 2- put the orange in the paper cup 3- put the knife in the cup 4- put the knife in the cup 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut an orange in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: Put an orange in the cup\n\u003c/PRED\u003e","video":"8284957433080014327.mp4"}
+{"uid":"6859697607320323175","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4610017779136619106.mp4"}
+{"uid":"16422603436902159866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in black 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":"13370700344690037909.mp4"}
+{"uid":"8164114622475143714","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the banana in a drawer 2- Put the pear in the drawer 3- Put the orange in the drawer 4- Put the orange in the drawer 5- Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the banana in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the banana in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: drop the banana in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the banana in a 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: drop the banana in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the banana in a 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":"16458699459059290288.mp4"}
+{"uid":"2224887077607765900","text":"\u003ctask:success:discrete:False\u003e\nput the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the drawer 2- Put the orange in the drawer 3- Put the banana in the drawer 4- Close the drawer 5- done\n\u003c/PRED\u003e","video":"2284305689806908039.mp4"}
+{"uid":"13011545286593621894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the lower 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":"7200989942386629419.mp4"}
+{"uid":"13489602321528242682","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet tile in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11538255083837758742.mp4"}
+{"uid":"12816745911082104121","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the drawer 2- Put the orange in the drawer 3- Put the pear in the drawer 4- Put the orange in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e","video":"13989551308655777670.mp4"}
+{"uid":"12942755717936447159","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the green peer in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the green peer in a 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":"17925818295260633936.mp4"}
+{"uid":"16157428876488352609","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15110597315783995156.mp4"}
+{"uid":"16548549730248727121","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9141239740903516541.mp4"}
+{"uid":"8583215281431267053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the 5th marker in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10196279835226219146.mp4"}
+{"uid":"380163181294961306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4302386335724538788.mp4"}
+{"uid":"1262567304241108063","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pear in the drawer 2- Put the orange in the drawer 3- Put the orange in the drawer 4- Put the orange in the drawer 5- Put the banana in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pear in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pear in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: put the pear in the drawer\n\u003c/PRED\u003e","video":"14619836109834078182.mp4"}
+{"uid":"15897536263075371885","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the drawer 2- drop the banana in a drawer 3- Put the pear in the drawer 4- Put the orange in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e","video":"11092320663493183071.mp4"}
+{"uid":"4805418770869615484","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup Q: immediate next step? \u003cPRED\u003eA: Put second orange in a glass.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: Put second orange in a glass.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put second orange in a glass.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put second orange in a glass. 2- put the knife in the cup 3- put the knife in the cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut second orange in a glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut second orange in a glass. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put second orange in a glass.\n\u003c/PRED\u003e","video":"7749826244259768266.mp4"}
+{"uid":"16530041595800097717","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the piece of the cloth back on the old place Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Erase doodle from the whiteboard. last 20 steps: 1- Pick up the piece of the cloth 2- Erase the content written on the board Q: next 5 steps? \u003cPRED\u003eA: 1- Put the piece of the cloth back on the old place 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the piece of the cloth back on the old place\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Erase doodle from the whiteboard Q: immediate next step? \u003cPRED\u003eA: Put the piece of the cloth back on the old place\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the piece of the cloth back on the old place\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Erase doodle from the whiteboard. last 20 steps: 1- Pick up the piece of the cloth 2- Erase the content written on the board Q: immediate next step? \u003cPRED\u003eA: Put the piece of the cloth back on the old place\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the piece of the cloth back on the old place Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16872970568741597468.mp4"}
+{"uid":"15684064933129806901","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the drawer 2- Put the banana in the drawer 3- Close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1374799627625685716.mp4"}
+{"uid":"9738234012398822624","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange in a 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":"363519397063502190.mp4"}
+{"uid":"15817192064800164705","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18255078443228345792.mp4"}
+{"uid":"15151807297618960219","text":"\u003ctask:success:discrete:True\u003e\nput the orange in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e","video":"16785833069937841451.mp4"}
+{"uid":"18060529707541796590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4805031091461366074.mp4"}
+{"uid":"15846222469785702002","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange in a 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":"14003142135364132157.mp4"}
+{"uid":"14731169534437078675","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup 3- put the knife in the cup 4- put the knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup 3- put the knife in the cup 4- put the knife in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the knife in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12130072606261401151.mp4"}
+{"uid":"13854072749861525118","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fruit 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":"12196177385803461611.mp4"}
+{"uid":"16846217930236826110","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fruit 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":"10229567418742371672.mp4"}
+{"uid":"9406624152554019261","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":"17635821738469305413.mp4"}
+{"uid":"9509353093773350922","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the tissue paper box into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12564273777662120587.mp4"}
+{"uid":"12165075062407512701","text":"\u003ctask:success:discrete:False\u003e\nPut an orange in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an orange in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an orange in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an orange in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: Put an orange in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put an orange in the cup 2- put the knife in the cup 3- put the knife in the cup 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup Q: immediate next step? \u003cPRED\u003eA: Put an orange in the cup\n\u003c/PRED\u003e","video":"17984472443393515112.mp4"}
+{"uid":"4887462755302575600","text":"\u003ctask:success:discrete:True\u003e\nPut the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e","video":"10193801374705007910.mp4"}
+{"uid":"18197448282470535782","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the pear in the drawer 2- Put the orange in the drawer 3- Put the orange in the drawer 4- Put the pear in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pear in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer Q: immediate next step? \u003cPRED\u003eA: put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pear in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: put the pear in the drawer\n\u003c/PRED\u003e","video":"2701717285228274868.mp4"}
+{"uid":"14820832411285569973","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the banana in a   drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the banana in a   drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer 13- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the banana in a   drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the banana in a   drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the banana in a   drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer 13- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: drop the banana in a   drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the banana in a   drawer\n\u003c/PRED\u003e","video":"8015923290546112191.mp4"}
+{"uid":"1332945408332006967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17742988732629243251.mp4"}
+{"uid":"6352025942607833986","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the drawer 2- Put the pear in the drawer 3- Put the orange in the drawer 4- Put the orange in the drawer 5- Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer Q: immediate next step? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the drawer\n\u003c/PRED\u003e","video":"7381886375429808798.mp4"}
+{"uid":"2801806300901624387","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the drawer 2- Put the pear in the drawer 3- Put the orange in the drawer 4- Put the orange in the drawer 5- Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e","video":"15119190186461675734.mp4"}
+{"uid":"3489778547139794388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace plates on other plates Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10429814686111765717.mp4"}
+{"uid":"8057928119534691698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen holder on the left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14763726766238065162.mp4"}
+{"uid":"15138624394541072641","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pear in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pear in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the drawer 2- Put the orange in the drawer 3- Put the orange in the drawer 4- Put the orange in the drawer 5- Put the banana in the drawer\n\u003c/PRED\u003e","video":"7122401907549325051.mp4"}
+{"uid":"10974946837599890112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13298595482444059335.mp4"}
+{"uid":"10223691136722456992","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green peer in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: drop the green peer in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green peer in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green peer in a 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: drop the green peer in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green peer in a drawer 2- Put the orange in the drawer 3- Put the orange in the drawer 4- Put the pear in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the green peer in a drawer\n\u003c/PRED\u003e","video":"2115467274184076141.mp4"}
+{"uid":"4589589831220014868","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer 13- Put the orange in the drawer 14- Put the banana in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the  drawer 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the  drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: close the  drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the  drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the  drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the  drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer 13- Put the orange in the drawer 14- Put the banana in the drawer Q: immediate next step? \u003cPRED\u003eA: close the  drawer\n\u003c/PRED\u003e","video":"13229653959356938434.mp4"}
+{"uid":"3781647654188364783","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange in a drawer 2- Put the orange in the drawer 3- Put the banana in the drawer 4- Close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange in a 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":"5087206429354262509.mp4"}
+{"uid":"18437110307601180144","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15044494857447078372.mp4"}
+{"uid":"16080310109525530575","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pear in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6768466366764085395.mp4"}
+{"uid":"11345304191769723090","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup 3- put the knife in the cup 4- Put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup 2- put the orange in the paper cup 3- put the knife in the cup 4- Put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic knife in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15460271883974000528.mp4"}
+{"uid":"15878885928069510664","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink packet inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"285201077162970351.mp4"}
+{"uid":"11191840431847117435","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e","video":"2098671794453044260.mp4"}
+{"uid":"10950840772080466820","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the paper cup 2- put the knife in the cup 3- put the knife in the cup 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- put the orange in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e","video":"2005763726670783037.mp4"}
+{"uid":"540183864896635011","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"4777309039679257571.mp4"}
+{"uid":"7094350528086233203","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16282118684490207005.mp4"}
+{"uid":"16600794911767514578","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange in a drawer 2- drop the banana in a drawer 3- Put the pear in the drawer 4- Put the orange in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e","video":"16684383843715120641.mp4"}
+{"uid":"6165126996537843906","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the smart food 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":"3170514508577458095.mp4"}
+{"uid":"11990442861058303852","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the orange in a 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":"14743141272777390243.mp4"}
+{"uid":"13611534370061509372","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put an orange in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut an orange in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14373867243048763454.mp4"}
+{"uid":"4056146667592784671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14246184359126857367.mp4"}
+{"uid":"10318046533313890621","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the banana in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the banana in a 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":"916584876851629534.mp4"}
+{"uid":"6290570650601098535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1356998004862439723.mp4"}
+{"uid":"16251733974258460075","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8413830348495099867.mp4"}
+{"uid":"2276220579995284228","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the numi 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":"5647411142097339658.mp4"}
+{"uid":"518760317865586003","text":"\u003ctask:success:discrete:True\u003e\nPut the banana in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the banana in the drawer\n\u003c/PRED\u003e","video":"8078317799570822512.mp4"}
+{"uid":"16674349801990244584","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange in a drawer 2- Put the orange in the drawer 3- Put the banana in the drawer 4- Close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange in a 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\ndrop the orange in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange in a drawer\n\u003c/PRED\u003e","video":"13925041735484841605.mp4"}
+{"uid":"2581287516357983491","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the drawer 2- drop the banana in a drawer 3- Put the pear in the drawer 4- Put the orange in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9971485684555392575.mp4"}
+{"uid":"15538453665633600558","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer 13- Put the orange in the drawer 14- Put the banana in the drawer Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer 7- Put the pear in the drawer 8- Put the orange in the drawer 9- Put the orange in the drawer 10- Put the pear in the drawer 11- Put the orange in the drawer 12- Put the orange in the drawer 13- Put the orange in the drawer 14- Put the banana in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e","video":"14507314812015548764.mp4"}
+{"uid":"11218970839942362884","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pear in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the fruits from the basket into the top drawer. last 20 steps: 1- Open the drawer 2- Put the orange in the drawer 3- drop the banana in a drawer 4- Put the pear in the drawer 5- Put the orange in the drawer 6- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the drawer 2- Put the orange in the drawer 3- Put the orange in the drawer 4- Put the pear in the drawer 5- Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pear in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pear in the drawer\n\u003c/PRED\u003e","video":"7455740336152800352.mp4"}
+{"uid":"14950386124766380327","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2580879731548411751.mp4"}
+{"uid":"477241218575358722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green marker 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":"17546148433227700643.mp4"}