diff --git "a/json/train/data-00016-of-00160.json" "b/json/train/data-00016-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00016-of-00160.json"
@@ -0,0 +1,1983 @@
+{"uid":"6296813527913749471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"9220510979357838285.mp4"}
+{"uid":"10534845612086965648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5917123954301885362.mp4"}
+{"uid":"7529059194086142136","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup 14- put the spoon in the cup 15- put the spoon in the cup 16- put the spoon in the cup 17- put the fork in the cup 18- put the spoon in the cup 19- put the fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup 14- put the spoon in the cup 15- put the spoon in the cup 16- put the spoon in the cup 17- put the fork in the cup 18- put the spoon in the cup 19- put the fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the cup 2- put the spoon in the cup 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e","video":"1645659162012642502.mp4"}
+{"uid":"13174930891530066798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"16558396578669267135.mp4"}
+{"uid":"17923757867309640162","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright Q: next 5 steps? \u003cPRED\u003eA: 1- put the forks in the cup 2- put the fork in the cup 3- put the fork in the cup 4- put the fork in the cup 5- put the fork in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: put the forks in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the forks 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 forks in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright Q: immediate next step? \u003cPRED\u003eA: put the forks in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the forks 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 forks in the cup\n\u003c/PRED\u003e","video":"7325086106786631968.mp4"}
+{"uid":"17953373793080107701","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair Q: next 5 steps? \u003cPRED\u003eA: 1- Put the hint bottle on the table 2- Open the drawer 3- Close the drawer 4- Put the yellow candy on table 5- Put the both candy on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair Q: immediate next step? \u003cPRED\u003eA: Put the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Put the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the hint bottle on the table\n\u003c/PRED\u003e","video":"16331229791052665838.mp4"}
+{"uid":"10953898953807959458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the fridge door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7095766547612392257.mp4"}
+{"uid":"14299270604828439758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5167066920836119591.mp4"}
+{"uid":"17939300038301904737","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the bottom 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":"5852721030457062255.mp4"}
+{"uid":"13149917240950059168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"142171033123270469.mp4"}
+{"uid":"2955226501119354110","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":"18422794809985373986.mp4"}
+{"uid":"12419590029480995058","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the wire in the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"858739484124488627.mp4"}
+{"uid":"14430325736091087635","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup 14- put the spoon in the cup 15- put the spoon in the cup 16- put the spoon in the cup 17- put the fork in the cup 18- put the spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the cup 2- put the spoon in the cup 3- put the spoon in the cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork 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 fork in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fork 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 distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup 14- put the spoon in the cup 15- put the spoon in the cup 16- put the spoon in the cup 17- put the fork in the cup 18- put the spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e","video":"15710898590596164764.mp4"}
+{"uid":"14989956694363010204","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":"15631494826152068137.mp4"}
+{"uid":"9715516993107993598","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly Q: next 5 steps? \u003cPRED\u003eA: 1- Pull back green chair 2- Put the plastic bottle on table 3- Open the drawer 4- Close the drawer 5- Put the yellow candy on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly Q: immediate next step? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPull back green 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":"6194996167006947759.mp4"}
+{"uid":"17095018635833213689","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fork 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 distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table Q: immediate next step? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork 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 distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the cup 2- put the spoon in the cup 3- put the spoon in the cup 4- put the spoon in the cup 5- put the fork in the cup\n\u003c/PRED\u003e","video":"2369403564505526580.mp4"}
+{"uid":"3796762867480638458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5277183847091384692.mp4"}
+{"uid":"11282547805162723679","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 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:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- Open the drawer 3- Close the drawer 4- Put the yellow candy on table 5- Put the both candy on table\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\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","video":"16008888350485816185.mp4"}
+{"uid":"15123694228392720037","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPull the chair backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly Q: next 5 steps? \u003cPRED\u003eA: 1- Pull the chair backward 2- Put the plastic bottle on table 3- Open the drawer 4- Close the drawer 5- Put the yellow candy on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly Q: immediate next step? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e","video":"4448125411373346867.mp4"}
+{"uid":"7884289293819133807","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the chocolates\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick the chocolates 2- Put the yellow candy on table 3- Put the both candy on table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open the drawer Q: immediate next step? \u003cPRED\u003eA: pick the chocolates\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the chocolates\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the chocolates Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: pick the chocolates\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the chocolates Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12358797788870509566.mp4"}
+{"uid":"15274851874325878901","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the banana peel on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8685199157209138687.mp4"}
+{"uid":"7580896635612812562","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place the chips packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: place the chips packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the chips packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the chips packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the chips packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the chips packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the chips packet on the table 2- place the pipcorn packet on the table 3- place the cup upright 4- put the forks in the cup 5- put the fork in the cup\n\u003c/PRED\u003e","video":"12523074252314708731.mp4"}
+{"uid":"3315985392208256128","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the cup 2- put the fork in the cup 3- put the fork in the cup 4- put the red pen on the table 5- put the fork in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork 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 fork in the cup\n\u003c/PRED\u003e","video":"8282326953879564552.mp4"}
+{"uid":"9121689497782638344","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the chips packet on the table 4- place the pipcorn packet on the table 5- place the cup upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e","video":"15555993578657289910.mp4"}
+{"uid":"17963087311077849894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"6781707113810165325.mp4"}
+{"uid":"5663428215187683184","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair properly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: arrange the chair properly\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair properly\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair properly 2- Put the plastic bottle on table 3- Open the drawer 4- Close the drawer 5- Put the yellow candy on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly Q: immediate next step? \u003cPRED\u003eA: arrange the chair properly\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair properly\n\u003c/PRED\u003e","video":"1018347084099542192.mp4"}
+{"uid":"2324927280280600322","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork 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 distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the cup 2- put the red pen on the table 3- put the fork in the cup 4- put the spoon in the cup 5- put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e","video":"12173386610749463887.mp4"}
+{"uid":"9988432236343947490","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pipcorn packet on the table 2- place the cup upright 3- put the forks in the cup 4- put the fork in the cup 5- put the fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9083633568174982407.mp4"}
+{"uid":"14639248713889614247","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup upright 2- put the forks in the cup 3- put the fork in the cup 4- put the fork in the cup 5- put the fork in the cup\n\u003c/PRED\u003e","video":"12349385716193100849.mp4"}
+{"uid":"554919500838411620","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup upright\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9816127598366561985.mp4"}
+{"uid":"542910160544723213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10080628183235874811.mp4"}
+{"uid":"15390459133898501224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"735083768310190323.mp4"}
+{"uid":"9170498583769523828","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop chocolate 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":"15763549333900858492.mp4"}
+{"uid":"17215455712702831606","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3397989138321790322.mp4"}
+{"uid":"11377539846268439959","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table Q: immediate next step? \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:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Close the drawer 3- Put the yellow candy on table 4- Put the both candy on table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9670937124908812788.mp4"}
+{"uid":"3303688477448112894","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPull back green chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPull back green 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: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table\n\u003c/PRED\u003e","video":"2301262694688909825.mp4"}
+{"uid":"1104471990894003516","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic bottle on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic bottle on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic bottle on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair Q: immediate next step? \u003cPRED\u003eA: Put the plastic bottle on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic bottle on table 2- Open the drawer 3- Close the drawer 4- Put the yellow candy on table 5- Put the both candy on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Put the plastic bottle on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic bottle on table\n\u003c/PRED\u003e","video":"16322420343533709322.mp4"}
+{"uid":"9867460380812323107","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup 14- put the spoon in the cup 15- put the spoon in the cup 16- put the spoon in the cup 17- put the fork in the cup 18- put the spoon in the cup 19- put the fork in the cup 20- put the spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the cup 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup 14- put the spoon in the cup 15- put the spoon in the cup 16- put the spoon in the cup 17- put the fork in the cup 18- put the spoon in the cup 19- put the fork in the cup 20- put the spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e","video":"10100382432283176314.mp4"}
+{"uid":"15309688081148790490","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup 14- put the spoon in the cup 15- put the spoon in the cup 16- put the spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fork 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 the fork in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup 14- put the spoon in the cup 15- put the spoon in the cup 16- put the spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the cup 2- put the spoon in the cup 3- put the fork in the cup 4- put the spoon in the cup 5- put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork 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":"6198289310575120482.mp4"}
+{"uid":"12171896605432820457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white glass in the pile of 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":"11931726984019819493.mp4"}
+{"uid":"2927343961251641","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup 14- put the spoon in the cup 15- put the spoon in the cup 16- put the spoon in the cup 17- put the fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup 14- put the spoon in the cup 15- put the spoon in the cup 16- put the spoon in the cup 17- put the fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the cup 2- put the fork in the cup 3- put the spoon in the cup 4- put the spoon in the cup 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e","video":"4944730706675109786.mp4"}
+{"uid":"16108459295028574144","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"271307023561121314.mp4"}
+{"uid":"14965089738106606249","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork 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 distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the cup 2- put the fork in the cup 3- put the red pen on the table 4- put the fork in the cup 5- put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e","video":"12723733176785542452.mp4"}
+{"uid":"12325508596658422446","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3442200932588042117.mp4"}
+{"uid":"12590745093203529952","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e","video":"3874740478316378615.mp4"}
+{"uid":"17896980343061719989","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the cup 2- put the spoon in the cup 3- put the spoon in the cup 4- put the fork in the cup 5- put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e","video":"10565165611791693437.mp4"}
+{"uid":"9760427677828736776","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"10114689849019643679.mp4"}
+{"uid":"9013134281807715689","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17754983896239339606.mp4"}
+{"uid":"4195742666809660151","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open the 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- Put the yellow candy on table 3- Put the both candy on table 4- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance: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: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Close 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":"12235075103983942740.mp4"}
+{"uid":"5996953105642190010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brush 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":"4140521723169051986.mp4"}
+{"uid":"362518536536360697","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair Q: immediate next step? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair Q: next 5 steps? \u003cPRED\u003eA: 1- Pull the chair backward 2- Put the plastic bottle on table 3- Open the drawer 4- Close the drawer 5- Put the yellow candy on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPull the chair 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","video":"2292844638544589524.mp4"}
+{"uid":"10665128531467400709","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop green packet into basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5614789715346308786.mp4"}
+{"uid":"2579912170416431548","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2187323660874505744.mp4"}
+{"uid":"14321792555556316994","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2700982668298308704.mp4"}
+{"uid":"138982688490182834","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16368811303638111638.mp4"}
+{"uid":"10830351914166294115","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open the drawer 7- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow candy on table 2- Put the both candy on table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow candy on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow candy on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open the drawer 7- Close the drawer Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow candy on table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow candy on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9299896345524985797.mp4"}
+{"uid":"579102316399092942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the clip backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16215606102327493396.mp4"}
+{"uid":"5386036214921999131","text":"\u003ctask:success:discrete:True\u003e\nPut the plastic bottle 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: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: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Close the drawer 3- Put the yellow candy on table 4- Put the both candy on table 5- done\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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic bottle on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"1366905637263998861.mp4"}
+{"uid":"718515507294681694","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pipcorn packet on the table 2- place the chips packet on the table 3- place the pipcorn packet on the table 4- place the cup upright 5- put the forks in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e","video":"10866774467703547469.mp4"}
+{"uid":"8955604066737132661","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4746087458592455531.mp4"}
+{"uid":"15338472851831553334","text":"\u003ctask:success:discrete:False\u003e\nPut the green chocolate on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green chocolate 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: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open the drawer 7- Close the drawer 8- Put the yellow candy on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green chocolate on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open the drawer 7- Close the drawer 8- Put the yellow candy on table Q: immediate next step? \u003cPRED\u003eA: Put the green chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green chocolate on the table\n\u003c/PRED\u003e","video":"11505759181569808826.mp4"}
+{"uid":"13703481908495592120","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- place the chocolates on the table properly Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the chocolates on the table properly Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 chocolates on the table properly\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- place the chocolates on the table properly Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"12828438074352957440.mp4"}
+{"uid":"2615233686662239836","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16917583735304498417.mp4"}
+{"uid":"13023579034374098564","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":"8221970137262631835.mp4"}
+{"uid":"12152244696361526958","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":"9560339042942174644.mp4"}
+{"uid":"12576730590563966495","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow chocolate on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow chocolate 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: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open the drawer 7- Close the drawer Q: immediate next step? \u003cPRED\u003eA: put the yellow chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow chocolate 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: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open the drawer 7- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow chocolate on the table 2- Put the both candy on table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: put the yellow chocolate on the table\n\u003c/PRED\u003e","video":"17628609495187268916.mp4"}
+{"uid":"13079654063825423114","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair Q: next 5 steps? \u003cPRED\u003eA: 1- Pull back green chair 2- Pull back green chair 3- Put the plastic bottle on table 4- Open the drawer 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair Q: immediate next step? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPull back green 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:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPull back green 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":"4257146397407861247.mp4"}
+{"uid":"3080558201636777636","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the both candy on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the both candy on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the both candy on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the yellow candy 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: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open the drawer 7- Close the drawer 8- Put the yellow candy on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the both candy on table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open the drawer 7- Close the drawer 8- Put the yellow candy on table Q: immediate next step? \u003cPRED\u003eA: Put the both candy on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Put the both candy on table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the yellow candy on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the both candy on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14654242885814255568.mp4"}
+{"uid":"11223682206809945937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sachets in the glass cage Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1330907527425861047.mp4"}
+{"uid":"12581364863153599285","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":"8164284636026451577.mp4"}
+{"uid":"7876814721826078015","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11246654031116018941.mp4"}
+{"uid":"4759765954737725008","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut two paper bags 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":"13964101048913370647.mp4"}
+{"uid":"8581192706819401651","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup 14- put the spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup 14- put the spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the cup 2- put the spoon in the cup 3- put the fork in the cup 4- put the spoon in the cup 5- put the fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e","video":"12519876472989316113.mp4"}
+{"uid":"2239416542489280585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16458986130706463015.mp4"}
+{"uid":"13158312652912756260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the rold gold 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":"10409523065110744820.mp4"}
+{"uid":"4568865580069299429","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPull the chair backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair Q: next 5 steps? \u003cPRED\u003eA: 1- Pull the chair backward 2- arrange the chair properly 3- Pull back green chair 4- Put the plastic bottle on table 5- Open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair Q: immediate next step? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e","video":"11316957482006898513.mp4"}
+{"uid":"4038480572987346369","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":"14991253282167743839.mp4"}
+{"uid":"14077462435546017376","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the chips packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the chips packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16493238593462242403.mp4"}
+{"uid":"1263027880284610796","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair Q: immediate next step? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair Q: next 5 steps? \u003cPRED\u003eA: 1- Pull back green chair 2- Pull back green chair 3- Put the plastic bottle on table 4- Open the drawer 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPull back green 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: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pull back green chair\n\u003c/PRED\u003e","video":"13297514716914771597.mp4"}
+{"uid":"15778504732926510174","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the red pen on the table 2- put the fork in the cup 3- put the spoon in the cup 4- put the spoon in the cup 5- put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red 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:success:discrete:False\u003e\nput the red 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the red pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: put the red pen on the table\n\u003c/PRED\u003e","video":"15045730978198432074.mp4"}
+{"uid":"17393594563377423285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sanitizer in the trolly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18370509313672460234.mp4"}
+{"uid":"6978803740875546658","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the hint bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the hint bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1985048943834559110.mp4"}
+{"uid":"11482016551805025079","text":"\u003ctask:success:discrete:False\u003e\nPut the pink chocolate 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: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open the drawer 7- Close the drawer 8- Put the yellow candy on table Q: immediate next step? \u003cPRED\u003eA: Put the pink chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Put the pink chocolate 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 chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open the drawer 7- Close the drawer 8- Put the yellow candy on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink chocolate on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pink chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pink chocolate 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":"11889469975213199141.mp4"}
+{"uid":"5399263515085686638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic 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":"7526187778850271581.mp4"}
+{"uid":"17147044000901032408","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass on the right table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14990453552059294478.mp4"}
+{"uid":"9420060588379130312","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- Put the yellow candy on table 3- Put the both candy on table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table 6- Open 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":"7717347008969164544.mp4"}
+{"uid":"11080846179176223865","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5349114862564756835.mp4"}
+{"uid":"15484754868098347971","text":"\u003ctask:success:discrete:True\u003e\nplace the pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e","video":"5033650933478270076.mp4"}
+{"uid":"6996713411846961627","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair properly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair properly\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: arrange the chair properly\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair properly\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair properly\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair properly 2- Open the drawer 3- Close the drawer 4- Put the yellow candy on table 5- Put the both candy on table\n\u003c/PRED\u003e","video":"359945582878376387.mp4"}
+{"uid":"9599078574283342500","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup 14- put the spoon in the cup 15- put the spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the cup 2- put the fork in the cup 3- put the spoon in the cup 4- put the fork in the cup 5- put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup 8- put the fork in the cup 9- put the fork in the cup 10- put the fork in the cup 11- put the fork in the cup 12- put the red pen on the table 13- put the fork in the cup 14- put the spoon in the cup 15- put the spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e","video":"13511687901020456867.mp4"}
+{"uid":"7723434195701057230","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the thick red pen 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":"6732037983752634731.mp4"}
+{"uid":"8874787226913649949","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bottle on the table\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","video":"3424137576951140598.mp4"}
+{"uid":"16443365493409740691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"2048076603215928201.mp4"}
+{"uid":"14545703018400192281","text":"\u003ctask:success:discrete:False\u003e\nplace the chocolates on the table properly Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the chocolates on the table properly 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the chocolates on the table properly\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the chocolates on the table properly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table Q: immediate next step? \u003cPRED\u003eA: place the chocolates on the table properly\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the chocolates on the table properly\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: place the chocolates on the table properly\n\u003c/PRED\u003e","video":"12928573363093901430.mp4"}
+{"uid":"5291628747841899706","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":"10550721127833904278.mp4"}
+{"uid":"953997508231008733","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair Q: next 5 steps? \u003cPRED\u003eA: 1- place the bottle on the table 2- Open the drawer 3- Close the drawer 4- Put the yellow candy on table 5- Put the both candy on table\n\u003c/PRED\u003e\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: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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair Q: immediate next step? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e","video":"1581090550241469300.mp4"}
+{"uid":"17517874653632837622","text":"\u003ctask:success:discrete:True\u003e\nplace the pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pipcorn packet on the table\n\u003c/PRED\u003e","video":"11541742362135546093.mp4"}
+{"uid":"11716862122273779666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2163708641703645955.mp4"}
+{"uid":"437792755316792771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the dry fruits in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12676635101493765306.mp4"}
+{"uid":"2506133254459960176","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPull the chair backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pull the chair backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPull the chair 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pull the chair backward 2- Pull back green chair 3- arrange the chair properly 4- Pull back green chair 5- Put the plastic bottle on table\n\u003c/PRED\u003e","video":"5707168827033875418.mp4"}
+{"uid":"15476296384291588143","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair properly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. Q: immediate next step? \u003cPRED\u003eA: arrange the chair properly\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair properly\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the chair properly Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 chair properly\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair properly\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: A meeting in the MK starts in a couple minutes. While I set up the video chat please pull out 4 chairs for the people attending in person, as well as bring a hint water and some snacks for us. last 20 steps: 1- Pull back green chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair properly 2- Pull back green chair 3- Put the plastic bottle on table 4- Open the drawer 5- Close the drawer\n\u003c/PRED\u003e","video":"9189413168444759876.mp4"}
+{"uid":"7069762401367325837","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9151054647099403104.mp4"}
+{"uid":"16738237708592242232","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork 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 fork 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 distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. Q: immediate next step? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the cup 2- put the fork in the cup 3- put the fork in the cup 4- put the fork in the cup 5- put the red pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please distribute the chips to tables in MK. Then flip the cup Please flip the cup and put the utensils in, then put the red pens in bin. last 20 steps: 1- place the pipcorn packet on the table 2- place the pipcorn packet on the table 3- place the pipcorn packet on the table 4- place the chips packet on the table 5- place the pipcorn packet on the table 6- place the cup upright 7- put the forks in the cup Q: immediate next step? \u003cPRED\u003eA: put the fork in the cup\n\u003c/PRED\u003e","video":"11804500903315796133.mp4"}
+{"uid":"6261922222413366396","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put blue marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup 3- Put the red marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put blue marker in the cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put blue marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers into the cups Q: immediate next step? \u003cPRED\u003eA: Put blue marker in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup 3- Put the red marker in the cup Q: immediate next step? \u003cPRED\u003eA: Put blue marker in the cup\n\u003c/PRED\u003e","video":"17396296180452647592.mp4"}
+{"uid":"13867349540777674002","text":"\u003ctask:success:discrete:False\u003e\nplace headphone on 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Hang the head set on the arm chair and place gamepad on the chair. last 20 steps: 1- pick up the headphone Q: immediate next step? \u003cPRED\u003eA: place headphone on the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Hang the head set on the arm chair and place gamepad on the chair Q: immediate next step? \u003cPRED\u003eA: place headphone on the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Hang the head set on the arm chair and place gamepad on the chair. last 20 steps: 1- pick up the headphone Q: next 5 steps? \u003cPRED\u003eA: 1- place headphone on the chair 2- pick up the joystick 3- place the joystick on the chair 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace headphone on 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place headphone on the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place headphone on the chair\n\u003c/PRED\u003e","video":"7208366962947067349.mp4"}
+{"uid":"3054933901985706192","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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":"13680125333759385161.mp4"}
+{"uid":"8643199288084625420","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red pouch 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":"9695357783830651844.mp4"}
+{"uid":"15953359917641980033","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup 3- Put the red marker in the cup Q: immediate next step? \u003cPRED\u003eA: put the 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 marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers into the cups Q: immediate next step? \u003cPRED\u003eA: put the marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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\nput the 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: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup 3- Put the red marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the cup 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker in the cup\n\u003c/PRED\u003e","video":"16367958593967496904.mp4"}
+{"uid":"3833564342766208848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11884048304409980525.mp4"}
+{"uid":"16296398458804706290","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the headphone\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the headphone Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12255004310494569346.mp4"}
+{"uid":"6839188104652157754","text":"\u003ctask:success:discrete:True\u003e\nplace headphone on 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: place headphone on the chair\n\u003c/PRED\u003e","video":"17001723434419359174.mp4"}
+{"uid":"14132032385609858410","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio 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":"17560052163189911973.mp4"}
+{"uid":"1016459685532962970","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers into the cups Q: immediate next step? \u003cPRED\u003eA: pick the black marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the black marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black marker in the glass 2- Put the black marker in the cup 3- Put the red marker in the cup 4- pick the blue marker in the glass 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1228491135865168.mp4"}
+{"uid":"4821380140779795114","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket 6- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket 6- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the 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 packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"12532671748684566911.mp4"}
+{"uid":"11504557281097811713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cart near the small brown table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4839218840525855750.mp4"}
+{"uid":"3736751854328978817","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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\nput the 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:planning:freeform\u003e\ncurrent goal is: please sort the markers into the cups Q: immediate next step? \u003cPRED\u003eA: put the 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 marker in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the cup 2- Put the black marker in the cup 3- Put the red marker in the cup 4- pick the blue marker in the glass 5- done\n\u003c/PRED\u003e","video":"17528617341307607413.mp4"}
+{"uid":"2565378175156375975","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup 3- Put the red marker in the cup Q: immediate next step? \u003cPRED\u003eA: pick the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers into the cups Q: immediate next step? \u003cPRED\u003eA: pick the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the blue marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the blue marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup 3- Put the red marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue marker in the glass 2- done\n\u003c/PRED\u003e","video":"7650429480503746790.mp4"}
+{"uid":"14338350554493553706","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"2298490466667183314.mp4"}
+{"uid":"10865482099137287923","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup 3- Put the red marker in the cup 4- Put blue marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers into the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup 3- Put the red marker in the cup 4- Put blue marker 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 blue marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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":"8436404649472308806.mp4"}
+{"uid":"13954406385189216156","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":"13025557561476105627.mp4"}
+{"uid":"2911577173812280961","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":"12941022188319392561.mp4"}
+{"uid":"8929012304585416015","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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":"8291844956234683559.mp4"}
+{"uid":"14573679790017834588","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7775764750841710122.mp4"}
+{"uid":"7885165737794945835","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15198518198230478449.mp4"}
+{"uid":"5227920138017376051","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup 3- Put the red marker in the cup 4- pick the blue marker in the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the blue marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup 3- Put the red marker in the cup 4- pick the blue marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers into the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the blue marker in the glass\n\u003c/PRED\u003e","video":"8588091831047766203.mp4"}
+{"uid":"15392003683409156632","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the 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 packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"7323917002333838036.mp4"}
+{"uid":"10091615870387573625","text":"\u003ctask:success:discrete:True\u003e\nput the 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: put the marker in the cup\n\u003c/PRED\u003e","video":"14337017958798286384.mp4"}
+{"uid":"11713550910708143841","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the 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 packet in the basket\n\u003c/PRED\u003e","video":"10334881350207296021.mp4"}
+{"uid":"9103537045487627950","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a Pistachio in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13107859710932839801.mp4"}
+{"uid":"6937742613058379113","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket 6- Put the packet in the basket 7- Put the packet in the basket 8- Put the packet in the basket 9- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket 6- Put the packet in the basket 7- Put the packet in the basket 8- Put the packet in the basket 9- Put the 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 packet in the basket\n\u003c/PRED\u003e","video":"10404903852185736022.mp4"}
+{"uid":"3106534125311830097","text":"\u003ctask:success:discrete:True\u003e\npick the black marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black marker in the glass\n\u003c/PRED\u003e","video":"2845742449249133564.mp4"}
+{"uid":"15463471474795721025","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":"8911266541062917738.mp4"}
+{"uid":"5247596995691979758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white 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":"18207485375377398070.mp4"}
+{"uid":"15536249661038115581","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the headphone Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Hang the head set on the arm chair and place gamepad on the chair. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the headphone 2- place headphone on the chair 3- pick up the joystick 4- place the joystick on the chair 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the headphone Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Hang the head set on the arm chair and place gamepad on the chair. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the headphone\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the headphone\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Hang the head set on the arm chair and place gamepad on the chair Q: immediate next step? \u003cPRED\u003eA: pick up the headphone\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the headphone\n\u003c/PRED\u003e","video":"7576420764622288489.mp4"}
+{"uid":"13180363575168592689","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass Q: immediate next step? \u003cPRED\u003eA: pick the black marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers into the cups Q: immediate next step? \u003cPRED\u003eA: pick the black marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black marker in the glass 2- Put the red marker in the cup 3- pick the blue marker in the glass 4- done\n\u003c/PRED\u003e","video":"3222723390079742613.mp4"}
+{"uid":"144983771079260248","text":"\u003ctask:success:discrete:False\u003e\nPut black 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: please sort the markers into the cups Q: immediate next step? \u003cPRED\u003eA: Put black marker in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put black marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut black 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: please sort the markers into the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put black marker in the cup 2- Put the black marker in the cup 3- Put the red marker in the cup 4- pick the blue marker in the glass 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put black marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put black marker in the cup\n\u003c/PRED\u003e","video":"3955733426856267126.mp4"}
+{"uid":"11107725366066545826","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers into the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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: put the marker in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup 3- Put the red marker in the cup 4- put the marker in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup 3- Put the red marker in the cup 4- put the marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11807167854806357020.mp4"}
+{"uid":"14340521491972228199","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a original redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13609414098349507805.mp4"}
+{"uid":"12317283825870044001","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the strainer 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":"9460646564004578715.mp4"}
+{"uid":"16525853830972957276","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"3216591711162741907.mp4"}
+{"uid":"2773445430003292747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7821539088399852440.mp4"}
+{"uid":"5867890498211275606","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":"14300133537441300137.mp4"}
+{"uid":"5661493869688192725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a candy in left coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4714745257938195327.mp4"}
+{"uid":"12137910289744602692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput holder 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":"11514946096875530514.mp4"}
+{"uid":"17348339559956176130","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup Q: immediate next step? \u003cPRED\u003eA: put the marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers into the cups Q: immediate next step? \u003cPRED\u003eA: put the 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 marker in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the cup 2- pick the blue marker in the glass 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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: put the marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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","video":"3441170685617270295.mp4"}
+{"uid":"10823397054377758683","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":"5014713794237516196.mp4"}
+{"uid":"2026235350536273692","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":"11695613126863359748.mp4"}
+{"uid":"16479822256580702013","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown 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: pick the brown marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brown 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: pick the brown marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown marker in the glass 2- pick the blue marker in the glass 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup Q: immediate next step? \u003cPRED\u003eA: pick the brown marker in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers into the cups Q: immediate next step? \u003cPRED\u003eA: pick the brown marker in the glass\n\u003c/PRED\u003e","video":"11383631911711381643.mp4"}
+{"uid":"17567366218011174300","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":"13398074517015179386.mp4"}
+{"uid":"13705505920703810524","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black 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":"6319128311100681766.mp4"}
+{"uid":"7006533090439173651","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put black marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut black 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":"16034989167701830039.mp4"}
+{"uid":"12932944595597896142","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket 6- Put the packet in the basket 7- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket 6- Put the packet in the basket 7- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the 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 packet in the basket\n\u003c/PRED\u003e","video":"3879132304108465993.mp4"}
+{"uid":"18333855338079265660","text":"\u003ctask:success:discrete:True\u003e\npick the brown 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: pick the brown marker in the glass\n\u003c/PRED\u003e","video":"6719524415054259656.mp4"}
+{"uid":"14115444386690355481","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"1656398611612867018.mp4"}
+{"uid":"11500913848882020050","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"10474341149263368754.mp4"}
+{"uid":"16200167636858913773","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":"18354020850791365734.mp4"}
+{"uid":"4714203207332097020","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":"17888634176270124640.mp4"}
+{"uid":"2121253500962086459","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Hang the head set on the arm chair and place gamepad on the chair Q: immediate next step? \u003cPRED\u003eA: pick up the joystick\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the joystick Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 joystick\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Hang the head set on the arm chair and place gamepad on the chair. last 20 steps: 1- pick up the headphone 2- place headphone on the chair Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the joystick 2- place the joystick on the chair 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Hang the head set on the arm chair and place gamepad on the chair. last 20 steps: 1- pick up the headphone 2- place headphone on the chair Q: immediate next step? \u003cPRED\u003eA: pick up the joystick\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the joystick Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 joystick\n\u003c/PRED\u003e","video":"6348915561071664226.mp4"}
+{"uid":"17724527672611455890","text":"\u003ctask:success:discrete:True\u003e\nPut the red 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: Put the red marker in the cup\n\u003c/PRED\u003e","video":"17692389262135939427.mp4"}
+{"uid":"11836243245589486242","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"2219952193017784477.mp4"}
+{"uid":"1892429591455238542","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"12980005486601990851.mp4"}
+{"uid":"14317907254236957050","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket 6- Put the packet in the basket 7- Put the packet in the basket 8- Put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the basket 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal into the tray. last 20 steps: 1- Put the packet in the basket 2- Put the packet in the basket 3- Put the packet in the basket 4- Put the packet in the basket 5- Put the packet in the basket 6- Put the packet in the basket 7- Put the packet in the basket 8- Put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the basket\n\u003c/PRED\u003e","video":"15331288825719839680.mp4"}
+{"uid":"4046528295807107112","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the joystick\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the joystick Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12811072315255921251.mp4"}
+{"uid":"10759129689080667488","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black marker in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black marker in the cup 2- Put the red marker in the cup 3- pick the blue marker in the glass 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black marker in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass Q: immediate next step? \u003cPRED\u003eA: Put the black marker in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers into the cups Q: immediate next step? \u003cPRED\u003eA: Put the black marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black 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\nPut the black 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","video":"15145085395073644397.mp4"}
+{"uid":"13864711276818385654","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the black marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16530409052702735127.mp4"}
+{"uid":"16651073252437190498","text":"\u003ctask:success:discrete:True\u003e\nplace the joystick on 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: place the joystick on the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Hang the head set on the arm chair and place gamepad on the chair. last 20 steps: 1- pick up the headphone 2- place headphone on the chair 3- pick up the joystick 4- place the joystick on the chair Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Hang the head set on the arm chair and place gamepad on the chair Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Hang the head set on the arm chair and place gamepad on the chair. last 20 steps: 1- pick up the headphone 2- place headphone on the chair 3- pick up the joystick 4- place the joystick on the chair Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12154861068353216861.mp4"}
+{"uid":"7008330082113817712","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the left side 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":"16559599993517556572.mp4"}
+{"uid":"17311272212015626231","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the joystick on 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: Hang the head set on the arm chair and place gamepad on the chair. last 20 steps: 1- pick up the headphone 2- place headphone on the chair 3- pick up the joystick Q: immediate next step? \u003cPRED\u003eA: place the joystick on the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the joystick on the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the joystick on 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: Hang the head set on the arm chair and place gamepad on the chair. last 20 steps: 1- pick up the headphone 2- place headphone on the chair 3- pick up the joystick Q: next 5 steps? \u003cPRED\u003eA: 1- place the joystick on the chair 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the joystick on the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Hang the head set on the arm chair and place gamepad on the chair Q: immediate next step? \u003cPRED\u003eA: place the joystick on the chair\n\u003c/PRED\u003e","video":"3487571085739599901.mp4"}
+{"uid":"4049118234448616780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange a 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":"2262921415916454093.mp4"}
+{"uid":"12946181742979915706","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red 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:planning:freeform\u003e\ncurrent goal is: please sort the markers into the cups Q: immediate next step? \u003cPRED\u003eA: Put the red 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 red marker in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red 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: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup Q: immediate next step? \u003cPRED\u003eA: Put the red marker in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass 2- Put the black marker in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red marker in the cup 2- pick the blue marker in the glass 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red marker in the cup\n\u003c/PRED\u003e","video":"11910917855688987112.mp4"}
+{"uid":"17516054983792584481","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the markers into the cups Q: immediate next step? \u003cPRED\u003eA: put the marker in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the cup 2- Put the red marker in the cup 3- pick the blue marker in the glass 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the markers into the cups. last 20 steps: 1- pick the black marker in the glass Q: immediate next step? \u003cPRED\u003eA: put the marker in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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: put the 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 marker in the cup\n\u003c/PRED\u003e","video":"3976557783819121362.mp4"}
+{"uid":"13780275399486416373","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key. last 20 steps: 1- place the blue object upright 2- place the blue object in the holder 3- open the drawer 4- place the blue object in the drawer 5- move the tray front Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- place the keys on the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key. last 20 steps: 1- place the blue object upright 2- place the blue object in the holder 3- open the drawer 4- place the blue object in the drawer 5- move the tray front 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":"3182948093786574244.mp4"}
+{"uid":"10844431049078502708","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the marker on pens 5- place the pen on pens\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"5536899361413915662.mp4"}
+{"uid":"13597710830432519530","text":"\u003ctask:success:discrete:False\u003e\nplace the pen on pens Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on pens\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on pens\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the marker on pens Q: immediate next step? \u003cPRED\u003eA: place the pen on pens\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the marker on pens Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on pens 2- place the pen on pens 3- place the pen on pens 4- place the marker on pens 5- place the marker on pens\n\u003c/PRED\u003e","video":"13407965459114814437.mp4"}
+{"uid":"9615760123991057776","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease 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":"11824645507387247461.mp4"}
+{"uid":"11460537376350921908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue cup in the first 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":"4899734388168315465.mp4"}
+{"uid":"10352039326735216830","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2530493302904388053.mp4"}
+{"uid":"5041352047686220732","text":"\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"13297233882915063279.mp4"}
+{"uid":"16531646427399438080","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13502350691746505975.mp4"}
+{"uid":"2351012927308911396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"511005276929827536.mp4"}
+{"uid":"10555679983968822796","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":"14804646592232648064.mp4"}
+{"uid":"14105474623029642764","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key Q: immediate next step? \u003cPRED\u003eA: place the blue object in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue object in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key. last 20 steps: 1- place the blue object upright Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue object in the holder 2- open the drawer 3- place the blue object in the drawer 4- move the tray front 5- close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue object in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key. last 20 steps: 1- place the blue object upright Q: immediate next step? \u003cPRED\u003eA: place the blue object in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue object in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue object in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11498529753624844921.mp4"}
+{"uid":"4833802302648676523","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key Q: immediate next step? \u003cPRED\u003eA: move the tray front\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key. last 20 steps: 1- place the blue object upright 2- place the blue object in the holder 3- open the drawer 4- place the blue object in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- move the tray front 2- close the drawer 3- place the keys on the drawer 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the tray front\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the tray front Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 tray front\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key. last 20 steps: 1- place the blue object upright 2- place the blue object in the holder 3- open the drawer 4- place the blue object in the drawer Q: immediate next step? \u003cPRED\u003eA: move the tray front\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the tray front Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12194861910931272531.mp4"}
+{"uid":"15083417556631397553","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the marker on pens 3- place the pen on pens 4- place the pen on pens 5- place the pen on pens\n\u003c/PRED\u003e","video":"10573408461941975525.mp4"}
+{"uid":"4627266397295783950","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the marker on pens 7- place the pen on pens 8- place the pen on pens Q: immediate next step? \u003cPRED\u003eA: place the pen on pens\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on pens\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on pens\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the marker on pens 7- place the pen on pens 8- place the pen on pens Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on pens 2- place the marker on pens 3- place the marker on pens 4- done\n\u003c/PRED\u003e","video":"13087905043606211074.mp4"}
+{"uid":"12296898356527207150","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the marker on pens 7- place the pen on pens Q: immediate next step? \u003cPRED\u003eA: place the pen on pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on pens\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the marker on pens 7- place the pen on pens Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on pens 2- place the pen on pens 3- place the marker on pens 4- place the marker on pens 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on pens\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on pens\n\u003c/PRED\u003e","video":"17882011195418359962.mp4"}
+{"uid":"7275565842959013368","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on pens\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the marker on pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the marker on pens 7- place the pen on pens 8- place the pen on pens 9- place the pen on pens Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on pens 2- place the marker on pens 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker on pens Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the marker on pens 7- place the pen on pens 8- place the pen on pens 9- place the pen on pens Q: immediate next step? \u003cPRED\u003eA: place the marker on pens\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on pens\n\u003c/PRED\u003e","video":"10533656634935621977.mp4"}
+{"uid":"10388840117287583627","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16667271107420243365.mp4"}
+{"uid":"6758770723777749005","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the marker on pens\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"12403300572047730955.mp4"}
+{"uid":"12070324070280503739","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the alphabet tile right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11010004695487977042.mp4"}
+{"uid":"7523522931319042260","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the marker on pens\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker on pens Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on pens 2- place the pen on pens 3- place the pen on pens 4- place the pen on pens 5- place the marker on pens\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the marker on pens\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on pens\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on pens\n\u003c/PRED\u003e","video":"9855655183611057433.mp4"}
+{"uid":"5626268640101352909","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop fork 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":"8717187972889126730.mp4"}
+{"uid":"17842652014223778346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11580185838067860057.mp4"}
+{"uid":"309094268578111528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow 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":"8239491066533205557.mp4"}
+{"uid":"9935093306248634809","text":"\u003ctask:success:discrete:False\u003e\nplace the blue object 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:planning:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key Q: immediate next step? \u003cPRED\u003eA: place the blue object upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue object upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the blue object upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue object upright 2- place the blue object in the holder 3- open the drawer 4- place the blue object in the drawer 5- move the tray front\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue object upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue object 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","video":"1261470267077640557.mp4"}
+{"uid":"14076274608000967048","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove arm towards white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10430569217377034010.mp4"}
+{"uid":"2862656256466928959","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":"321788908463481000.mp4"}
+{"uid":"15620269095193981813","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on pens\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the marker on pens\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on pens\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the marker on pens 7- place the pen on pens 8- place the pen on pens 9- place the pen on pens 10- place the marker on pens Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on pens 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the marker on pens 7- place the pen on pens 8- place the pen on pens 9- place the pen on pens 10- place the marker on pens Q: immediate next step? \u003cPRED\u003eA: place the marker on pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6822560805860419799.mp4"}
+{"uid":"13572219528341264865","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the blue object in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16287211273320410727.mp4"}
+{"uid":"10858139802172953165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3948653091294789397.mp4"}
+{"uid":"11242809175955699365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut brown chips 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":"599903587659012112.mp4"}
+{"uid":"11326137356012589763","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"15299226117022332162.mp4"}
+{"uid":"16961724217180864756","text":"\u003ctask:success:discrete:False\u003e\nplace the keys on 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 keys on the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the keys on the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key Q: immediate next step? \u003cPRED\u003eA: place the keys on the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the keys on 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 whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key. last 20 steps: 1- place the blue object upright 2- place the blue object in the holder 3- open the drawer 4- place the blue object in the drawer 5- move the tray front 6- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the keys on the drawer 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key. last 20 steps: 1- place the blue object upright 2- place the blue object in the holder 3- open the drawer 4- place the blue object in the drawer 5- move the tray front 6- close the drawer Q: immediate next step? \u003cPRED\u003eA: place the keys on the drawer\n\u003c/PRED\u003e","video":"15807027172919037549.mp4"}
+{"uid":"18113532934173318017","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key. last 20 steps: 1- place the blue object upright 2- place the blue object in the holder 3- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue object in the drawer 2- move the tray front 3- close the drawer 4- place the keys on the drawer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue object 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 whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key. last 20 steps: 1- place the blue object upright 2- place the blue object in the holder 3- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the blue object in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key Q: immediate next step? \u003cPRED\u003eA: place the blue object in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue object in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue object 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: place the blue object in the drawer\n\u003c/PRED\u003e","video":"10165529457006845082.mp4"}
+{"uid":"17313453050494409024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab 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":"14351665488474299528.mp4"}
+{"uid":"1373244377744070396","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key 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 whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key. last 20 steps: 1- place the blue object upright 2- place the blue object in the holder 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 whiteboard eraser back into its holster, then return it to the file cabinet before locking the cabinet with the key. last 20 steps: 1- place the blue object upright 2- place the blue object in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the blue object in the drawer 3- move the tray front 4- close the drawer 5- place the keys on the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1892436671245774370.mp4"}
+{"uid":"6688217634382680209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chocolate candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1879643540918760316.mp4"}
+{"uid":"3769672786291502152","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the marker on pens 4- place the pen on pens 5- place the pen on pens\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the pens and marker from pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"12050716542224282.mp4"}
+{"uid":"3186391540329505859","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":"5976180696727972342.mp4"}
+{"uid":"13211501177457688822","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"5792996189764721890.mp4"}
+{"uid":"5945256916905788310","text":"\u003ctask:success:discrete:True\u003e\nPlace the tissue packet into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the tissue packet into the cart\n\u003c/PRED\u003e","video":"5384175573583428784.mp4"}
+{"uid":"2439156121634872109","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray Q: immediate next step? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the tray 2- drop the pen in  the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen 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":"15269337879965222829.mp4"}
+{"uid":"12642263474875226787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the tape into the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9030596458614893358.mp4"}
+{"uid":"10003849578395462711","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen 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":"15960022913776452780.mp4"}
+{"uid":"4613317732003185403","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the paper in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray Q: immediate next step? \u003cPRED\u003eA: drop the paper in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the paper in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper in the tray 2- drop the pen in the tray 3- drop the pen in the tray 4- drop the pen in  the tray 5- drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper in the tray\n\u003c/PRED\u003e","video":"16032061153307141484.mp4"}
+{"uid":"5692227523551576809","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13183532109510953921.mp4"}
+{"uid":"14793820101863793147","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the cart to the corner\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray 9- drop yellow packet in the tray 10- place the cart near the wall Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cart near the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray 9- drop yellow packet in the tray 10- Move the cart to the corner Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray 9- drop yellow packet in the tray 10- place the cart near the wall Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray 9- drop yellow packet in the tray 10- Move the cart to the corner Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cart near the wall\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the cart to the corner Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7465526371342188742.mp4"}
+{"uid":"12070650217062774084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a brown packet inside 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":"4588503559568520501.mp4"}
+{"uid":"7054209569995642678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8603672116522658717.mp4"}
+{"uid":"16764767683694083922","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput lid of the jar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16094540553335003942.mp4"}
+{"uid":"7130257497951823985","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":"17017802984186536906.mp4"}
+{"uid":"13636923811501382582","text":"\u003ctask:success:discrete:True\u003e\nput the sanitizer bottle in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sanitizer bottle in the tray\n\u003c/PRED\u003e","video":"8173818962886740642.mp4"}
+{"uid":"6821368118948512488","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray Q: immediate next step? \u003cPRED\u003eA: put the pen in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the cart 2- drop the pen in  the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: put the pen in the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the cart\n\u003c/PRED\u003e","video":"6110356396711224632.mp4"}
+{"uid":"7864424792192332593","text":"\u003ctask:success:discrete:True\u003e\nPlace the sanitizer into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 sanitizer into the cart\n\u003c/PRED\u003e","video":"3621414504587182498.mp4"}
+{"uid":"6715720520876896340","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":"2689272159050047987.mp4"}
+{"uid":"4334796886687678899","text":"\u003ctask:success:discrete:False\u003e\nput the pen in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the cart 2- drop the pen in the tray 3- drop the pen in the tray 4- drop yellow packet in the tray 5- push the tray towards the side wall\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: put the pen in the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray Q: immediate next step? \u003cPRED\u003eA: put the pen in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12472607600862735103.mp4"}
+{"uid":"2779601632300817594","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red snack packet inside 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":"7274770408029216421.mp4"}
+{"uid":"5198202280445682776","text":"\u003ctask:success:discrete:False\u003e\nput the bottle in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 bottle in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: put the bottle in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bottle in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 bottle in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the bottle in the cart 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the bottle in the cart\n\u003c/PRED\u003e","video":"15321525300671955938.mp4"}
+{"uid":"4086065915714181633","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tissue packet into the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 tissue packet into the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the tissue packet into the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tissue packet into the cart 2- push the tray towards the side wall 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tissue packet into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 tissue packet into the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the tissue packet into the cart\n\u003c/PRED\u003e","video":"4494336114535802385.mp4"}
+{"uid":"9539739721273680687","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen 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":"6131315278839089554.mp4"}
+{"uid":"8633245429808130112","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the cart 2- drop yellow packet in the tray 3- push the tray towards the side wall 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen into the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 pen into the cart\n\u003c/PRED\u003e","video":"16626480396587133284.mp4"}
+{"uid":"4366508061954857510","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the tray 2- drop the pen in the tray 3- drop the pen in the tray 4- drop yellow packet in the tray 5- push the tray towards the side wall\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray Q: immediate next step? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen 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\ndrop the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e","video":"6281925598835475887.mp4"}
+{"uid":"14618972227136447132","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red 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":"1329895606090512012.mp4"}
+{"uid":"16525004313210920661","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen 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: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray Q: immediate next step? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the tray 2- drop the pen in the tray 3- drop the pen in  the tray 4- drop the pen in the tray 5- drop the pen in the tray\n\u003c/PRED\u003e","video":"4988454961790993935.mp4"}
+{"uid":"16769876046703440567","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sticky notes into the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sticky notes into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 sticky notes into the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes into the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky notes into the cart 2- drop the pen in the tray 3- drop the pen in the tray 4- drop the pen in  the tray 5- drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky notes into the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes into the cart\n\u003c/PRED\u003e","video":"2259222303867342279.mp4"}
+{"uid":"7749811885716272462","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray Q: immediate next step? \u003cPRED\u003eA: put the pen in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the box 2- drop the pen in the tray 3- drop yellow packet in the tray 4- push the tray towards the side wall 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: put the pen in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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":"6464915411213210001.mp4"}
+{"uid":"14164652529513832713","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sanitizer into the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sanitizer into the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sanitizer into the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the sanitizer into the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sanitizer into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sanitizer into the cart 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the sanitizer into the cart\n\u003c/PRED\u003e","video":"7615187248809457734.mp4"}
+{"uid":"11829239074528374417","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":"6161435100437738396.mp4"}
+{"uid":"8553242887856280016","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":"12125201467320246478.mp4"}
+{"uid":"2916448412958349118","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":"8425675161738602107.mp4"}
+{"uid":"6330961675887579617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter into the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8712137196409396267.mp4"}
+{"uid":"9085951315681305010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the nut 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":"8257597910893271782.mp4"}
+{"uid":"7177497376266607633","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the cart 2- drop the pen in the tray 3- drop the pen in  the tray 4- drop the pen in the tray 5- drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen into the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray Q: immediate next step? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9636318423897668925.mp4"}
+{"uid":"9179323155009167834","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4148035258298275818.mp4"}
+{"uid":"6871420729702511000","text":"\u003ctask:success:discrete:False\u003e\nMove the cart to the corner Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 cart to the corner\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the cart to the corner\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Move the cart to the corner\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray 9- drop yellow packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move the cart to the corner 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray 9- drop yellow packet in the tray Q: immediate next step? \u003cPRED\u003eA: Move the cart to the corner\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the cart to the corner Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2447212576336990888.mp4"}
+{"uid":"9357534902643992624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cross shaped block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7281321832754417242.mp4"}
+{"uid":"7128188479694975626","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy into the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8874396967821033622.mp4"}
+{"uid":"12503834769282983533","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray 9- drop yellow packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- push the tray towards the side wall 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the tray towards the side wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the tray towards the side wall\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the tray towards the side wall\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: push the tray towards the side wall\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the tray towards the side wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray 9- drop yellow packet in the tray Q: immediate next step? \u003cPRED\u003eA: push the tray towards the side wall\n\u003c/PRED\u003e","video":"8444215829207701737.mp4"}
+{"uid":"4909311732142302120","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen into the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the cart 2- drop yellow packet in the tray 3- push the tray towards the side wall 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e","video":"12519044871589375518.mp4"}
+{"uid":"4088512872647474127","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":"6131887821531963834.mp4"}
+{"uid":"5474673915814949565","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":"80444619006833686.mp4"}
+{"uid":"16224017274099249318","text":"\u003ctask:success:discrete:True\u003e\nPlace the pen into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e","video":"452765023848056688.mp4"}
+{"uid":"11233949093939721435","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tea box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4085365331675049340.mp4"}
+{"uid":"4068023154217970124","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the cart 2- drop the pen in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen into the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 pen into the cart\n\u003c/PRED\u003e","video":"13835421217201506964.mp4"}
+{"uid":"17710863399506432164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the dog toy inside 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":"6975017044042756520.mp4"}
+{"uid":"10083223716413629207","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray Q: immediate next step? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the tray 2- drop yellow packet in the tray 3- push the tray towards the side wall 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e","video":"13508128854620788392.mp4"}
+{"uid":"9792689935537659628","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":"11036372718652528468.mp4"}
+{"uid":"9853902189501154904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the pink candy 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":"660026502565655894.mp4"}
+{"uid":"10959601638657746335","text":"\u003ctask:success:discrete:True\u003e\ndrop yellow packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop yellow packet in the tray\n\u003c/PRED\u003e","video":"3870230671099936477.mp4"}
+{"uid":"1295218727849134780","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move arm down\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove arm down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove arm down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move arm down 2- drop the pen in the tray 3- drop the pen in the tray 4- drop yellow packet in the tray 5- push the tray towards the side wall\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: move arm down\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move arm down\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray Q: immediate next step? \u003cPRED\u003eA: move arm down\n\u003c/PRED\u003e","video":"6363710937431714062.mp4"}
+{"uid":"14268709119554573632","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray Q: immediate next step? \u003cPRED\u003eA: put the paper in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: put the paper in the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper in the cart 2- drop the pen in the tray 3- drop the pen in the tray 4- drop the pen in  the tray 5- drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11672666405463620079.mp4"}
+{"uid":"3283869302334484541","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen in  the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen 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":"15825142084305116147.mp4"}
+{"uid":"11023907954270963376","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange packet inside 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":"2511886850183194632.mp4"}
+{"uid":"2506869151034313189","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cart near the wall\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cart near the wall\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the cart near the wall\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cart near the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray 9- drop yellow packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the cart near the wall 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray 9- drop yellow packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the cart near the wall\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cart near the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2528274764574404402.mp4"}
+{"uid":"2560790119797122621","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6457309978136061507.mp4"}
+{"uid":"9228989770110760057","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4468129298050795192.mp4"}
+{"uid":"2089518651917306445","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen 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":"17416086947304680306.mp4"}
+{"uid":"13861110039982045304","text":"\u003ctask:success:discrete:True\u003e\ndrop the paper in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the paper in the tray\n\u003c/PRED\u003e","video":"16577323421395249488.mp4"}
+{"uid":"9412000855151589399","text":"\u003ctask:success:discrete:False\u003e\nput the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the box 2- drop yellow packet in the tray 3- push the tray towards the side wall 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: put the pen in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray Q: immediate next step? \u003cPRED\u003eA: put the pen in the box\n\u003c/PRED\u003e","video":"4706538294423703762.mp4"}
+{"uid":"2396432202835073016","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bottle in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the bottle in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1060851299777791771.mp4"}
+{"uid":"12638929640921021454","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the cart 2- push the tray towards the side wall 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: put the packet in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2909519975132920493.mp4"}
+{"uid":"5989792075890914490","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray Q: immediate next step? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the tray 2- drop the pen in the tray 3- drop yellow packet in the tray 4- push the tray towards the side wall 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen 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: drop the pen in the tray\n\u003c/PRED\u003e","video":"8582468318368444147.mp4"}
+{"uid":"11067557902637010919","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"1008506946700003513.mp4"}
+{"uid":"15538964921096521035","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3625009278439187642.mp4"}
+{"uid":"5959226507558407765","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the cart 2- drop the pen in  the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen into the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e","video":"8980245203416974622.mp4"}
+{"uid":"13095581405427954395","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sticky notes into the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the sticky notes into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11279541908089180719.mp4"}
+{"uid":"15675472785749797594","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6730238374224979203.mp4"}
+{"uid":"13269220387701425261","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the tray towards the side wall\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray 9- drop yellow packet in the tray 10- push the tray towards the side wall Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray 9- drop yellow packet in the tray 10- push the tray towards the side wall Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npush the tray towards the side wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14594811347138433065.mp4"}
+{"uid":"11726552696287671007","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6271768895406562727.mp4"}
+{"uid":"10961477278765820795","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen 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":"2849129007939859002.mp4"}
+{"uid":"14034011989075000911","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":"11235864174618561527.mp4"}
+{"uid":"7054340211797225387","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the cart 2- drop the pen in the tray 3- drop the pen in the tray 4- drop yellow packet in the tray 5- push the tray towards the side wall\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen into the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray Q: immediate next step? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the pen into the cart\n\u003c/PRED\u003e","video":"10535632782626004571.mp4"}
+{"uid":"8591436448011122195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the chair near to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6314351704539679035.mp4"}
+{"uid":"4292454410349267318","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop yellow packet in the tray 2- push the tray towards the side wall 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop yellow 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\ndrop yellow 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: drop yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop the pen in  the tray 6- drop the pen in the tray 7- drop the pen in the tray 8- drop the pen in the tray Q: immediate next step? \u003cPRED\u003eA: drop yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop yellow packet in the tray\n\u003c/PRED\u003e","video":"4184095714634901674.mp4"}
+{"uid":"3759355469550414067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12661527308814332740.mp4"}
+{"uid":"9933545076485034182","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace napkin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6542097892023098761.mp4"}
+{"uid":"17142770505304793407","text":"\u003ctask:success:discrete:False\u003e\nput the pen in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: put the pen in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the cart 2- drop the pen in the tray 3- drop the pen in  the tray 4- drop the pen in the tray 5- drop the pen in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray Q: immediate next step? \u003cPRED\u003eA: put the pen in the cart\n\u003c/PRED\u003e","video":"10251445379872047463.mp4"}
+{"uid":"7076055979580733356","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen in  the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in  the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the pen in  the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in  the tray 2- drop the pen in the tray 3- drop the pen in the tray 4- drop the pen in the tray 5- drop yellow packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen in  the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then move the cart back into the corner. last 20 steps: 1- put the sanitizer bottle in the tray 2- drop the paper in the tray 3- drop the pen in the tray 4- drop the pen in the tray Q: immediate next step? \u003cPRED\u003eA: drop the pen in  the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in  the tray\n\u003c/PRED\u003e","video":"11844130923944047622.mp4"}
+{"uid":"13679278868954719998","text":"\u003ctask:success:discrete:True\u003e\ngrab the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the book\n\u003c/PRED\u003e","video":"13499887556124416385.mp4"}
+{"uid":"7517841978606144783","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":"6445259807765547084.mp4"}
+{"uid":"5653552326333079718","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book Q: next 5 steps? \u003cPRED\u003eA: 1- put the book in the tray 2- Put the book in the tray 3- grab the book 4- put the book in a trolly 5- put the book in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book Q: immediate next step? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the book 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 book 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":"16213449451262344129.mp4"}
+{"uid":"13503623754714279387","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book Q: immediate next step? \u003cPRED\u003eA: Drop the book in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the book 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 notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the book in the tray 2- put the book in the tray 3- lift the book 4- put the book in the tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: Drop the book in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the book 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: Drop the book in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the book in the tray\n\u003c/PRED\u003e","video":"8899143600195953102.mp4"}
+{"uid":"14158136812771901160","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the book\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16603356485509175370.mp4"}
+{"uid":"13723736840187360338","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput two spoons into 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":"13673589385385230882.mp4"}
+{"uid":"8878820977230653929","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"8744996347652885939.mp4"}
+{"uid":"12168805339758091330","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: lift the book\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nlift the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18350765168259741113.mp4"}
+{"uid":"15988232709189411326","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray Q: immediate next step? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the book in the tray 2- put the book in the tray 3- lift the book 4- put the book in the tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the book 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 book 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":"18307945274158400974.mp4"}
+{"uid":"14687966777822719968","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses on the existing glass stack on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4718370933263542375.mp4"}
+{"uid":"18164803998716566653","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the pens in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Arrange the sticky note\n\u003c/PRED\u003e","video":"8064668732136965508.mp4"}
+{"uid":"1524980786215044594","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nuts 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":"5745189681334219508.mp4"}
+{"uid":"5237445400458506355","text":"\u003ctask:success:discrete:True\u003e\nput the book in a trolly Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 book in a trolly\n\u003c/PRED\u003e","video":"17283755016758465629.mp4"}
+{"uid":"10551109318697753697","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Arrange the sticky note 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"10434173846127099207.mp4"}
+{"uid":"9264513923835796899","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":"10267256288501849196.mp4"}
+{"uid":"17141896310380155965","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the book 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 book 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 book in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the book in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray Q: immediate next step? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e","video":"4981702592775924989.mp4"}
+{"uid":"13748504570608475400","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen 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":"10078093309263827418.mp4"}
+{"uid":"2901495630649539840","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the battery in the charger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13843628158875298998.mp4"}
+{"uid":"12573611455467025590","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the book 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":"15869602238582453073.mp4"}
+{"uid":"5012097392382971596","text":"\u003ctask:success:discrete:True\u003e\nput the book in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e","video":"709141922654147012.mp4"}
+{"uid":"5288519889717367798","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray Q: immediate next step? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the book in the tray 2- grab the book 3- put the book in a trolly 4- put the book in the tray 5- lift the book\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the book 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 book 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 book in the tray\n\u003c/PRED\u003e","video":"9338561345281276483.mp4"}
+{"uid":"11284009710076851889","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the book\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: Pick the book\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the book 2- put the book in the tray 3- lift the book 4- put the book in the tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray Q: immediate next step? \u003cPRED\u003eA: Pick the book\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the book\n\u003c/PRED\u003e","video":"11551825923908408452.mp4"}
+{"uid":"15264862215476585980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the brown tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14017610151478247852.mp4"}
+{"uid":"14777352285011408061","text":"\u003ctask:success:discrete:True\u003e\nlift the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: lift the book\n\u003c/PRED\u003e","video":"12780314482883918112.mp4"}
+{"uid":"15256540899635133108","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up 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: Pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk. last 20 steps: 1- Pick up the sanitizer bottle 2- Put the sanitizer bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the sticky notes 2- Pick up the pen 3- Put the sticky notes on the table 4- Put the pen on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk. last 20 steps: 1- Pick up the sanitizer bottle 2- Put the sanitizer bottle on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the sticky notes\n\u003c/PRED\u003e","video":"7673277562240405939.mp4"}
+{"uid":"6670433947856166909","text":"\u003ctask:success:discrete:True\u003e\nput the book in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e","video":"13150016686249264808.mp4"}
+{"uid":"5501768539823865761","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the 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 book in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray 7- lift the book 8- put the book in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the book in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray 7- lift the book 8- put the book in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"7098716842329461698.mp4"}
+{"uid":"14062055921278462362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16376097850441985894.mp4"}
+{"uid":"15545973131172951052","text":"\u003ctask:success:discrete:True\u003e\nPut the marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"2845377051611643039.mp4"}
+{"uid":"11616344248062487733","text":"\u003ctask:success:discrete:False\u003e\ngrab the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: grab the book\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the book\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: grab the book\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- grab the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the book\n\u003c/PRED\u003e","video":"1109488067245698880.mp4"}
+{"uid":"14007544890651284703","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: lift the book\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray Q: immediate next step? \u003cPRED\u003eA: lift the book\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the book\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the book\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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\nlift the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- lift the book 2- put the book in the tray 3- done\n\u003c/PRED\u003e","video":"8397656050100895081.mp4"}
+{"uid":"1999665171556179408","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red marker 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":"15990733083387590588.mp4"}
+{"uid":"16938070819811086614","text":"\u003ctask:success:discrete:True\u003e\nPick up the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 sticky notes\n\u003c/PRED\u003e","video":"5180785382195451947.mp4"}
+{"uid":"1135017350238868471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18099389767054358637.mp4"}
+{"uid":"12748414114014196778","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the sticky note 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Arrange the sticky note\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 pens and highlighters back in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Arrange the sticky note\n\u003c/PRED\u003e","video":"9366543850476394259.mp4"}
+{"uid":"16284903482354916927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown box 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":"2901442859780197965.mp4"}
+{"uid":"7774937183237142612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"14551215874656149460.mp4"}
+{"uid":"6836078882153559100","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the book\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9574342944123620378.mp4"}
+{"uid":"9831245618966217271","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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:success:discrete:False\u003e\nPut the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk. last 20 steps: 1- Pick up the sanitizer bottle 2- Put the sanitizer bottle on the table 3- Pick up the sticky notes 4- Pick up the pen 5- Put the sticky notes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk. last 20 steps: 1- Pick up the sanitizer bottle 2- Put the sanitizer bottle on the table 3- Pick up the sticky notes 4- Pick up the pen 5- Put the sticky notes on the table Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk Q: immediate next step? \u003cPRED\u003eA: Put the pen on the table\n\u003c/PRED\u003e","video":"374895602182300352.mp4"}
+{"uid":"16672946438820228856","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the book 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 notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray 7- lift the book Q: immediate next step? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray 7- lift the book Q: next 5 steps? \u003cPRED\u003eA: 1- put the book in the tray 2- done\n\u003c/PRED\u003e","video":"13883323193788133753.mp4"}
+{"uid":"1134420581239078204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to 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":"9568788419996451693.mp4"}
+{"uid":"8260422822190397360","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put thr book in a trolly\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput thr book in a trolly Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray 7- put thr book in a trolly Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray 7- put thr book in a trolly Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1965231456095538333.mp4"}
+{"uid":"5867088043175235006","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please recycle my empty cup into the compost. last 20 steps: 1- Put the plastic glass in the trash bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic glass 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:planning:freeform\u003e\ncurrent goal is: please recycle my empty cup into the compost 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 glass in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please recycle my empty cup into the compost. last 20 steps: 1- Put the plastic glass in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9340125297013146799.mp4"}
+{"uid":"3667793201412726276","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please recycle my empty cup into the compost. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic glass in the trash bin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please recycle my empty cup into the compost. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the plastic glass in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic glass 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\nPut the plastic glass 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: Put the plastic glass in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic glass in the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please recycle my empty cup into the compost Q: immediate next step? \u003cPRED\u003eA: Put the plastic glass in the trash bin\n\u003c/PRED\u003e","video":"14012564898025696698.mp4"}
+{"uid":"17401354491851552368","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk. last 20 steps: 1- Pick up the sanitizer bottle 2- Put the sanitizer bottle on the table 3- Pick up the sticky notes 4- Pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sticky notes on the table 2- Put the pen on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk. last 20 steps: 1- Pick up the sanitizer bottle 2- Put the sanitizer bottle on the table 3- Pick up the sticky notes 4- Pick up the pen Q: immediate next step? \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: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: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:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes on the table\n\u003c/PRED\u003e","video":"17200047508220842739.mp4"}
+{"uid":"7199478923614461643","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: put thr book in a trolly\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput thr book in a trolly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray Q: immediate next step? \u003cPRED\u003eA: put thr book in a trolly\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput thr book in a trolly Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 thr book in a trolly\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put thr book in a trolly\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put thr book in a trolly 2- done\n\u003c/PRED\u003e","video":"16402895978153205033.mp4"}
+{"uid":"15051475273286922318","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the book in a trolly\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the book in a trolly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: put the book in a trolly\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book Q: next 5 steps? \u003cPRED\u003eA: 1- put the book in a trolly 2- put the book in the tray 3- lift the book 4- put the book in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the book in a trolly\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the book in a trolly Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book Q: immediate next step? \u003cPRED\u003eA: put the book in a trolly\n\u003c/PRED\u003e","video":"8922856978146348808.mp4"}
+{"uid":"12910169378079252826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1610916183642098276.mp4"}
+{"uid":"4940892589170336093","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":"1109886992533061085.mp4"}
+{"uid":"11974215836885204707","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9949036413898870040.mp4"}
+{"uid":"14134518451083597704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the silver packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11716639371127251471.mp4"}
+{"uid":"1342907445876932946","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":"10516147402068665798.mp4"}
+{"uid":"10793245662360528719","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue box right side on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15439329623577229999.mp4"}
+{"uid":"14297778076120874951","text":"\u003ctask:success:discrete:True\u003e\nput the book in a trolly Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 book in a trolly\n\u003c/PRED\u003e","video":"16155167938358710192.mp4"}
+{"uid":"13536335988393224751","text":"\u003ctask:success:discrete:True\u003e\nDrop the book in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the book in the tray\n\u003c/PRED\u003e","video":"7109860954028914483.mp4"}
+{"uid":"14107890491136603903","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":"13224851528968231597.mp4"}
+{"uid":"610859077269451206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black objects in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3984143403051866558.mp4"}
+{"uid":"17524909888667530402","text":"\u003ctask:success:discrete:True\u003e\nPut the book in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book in the tray\n\u003c/PRED\u003e","video":"14466079369825504356.mp4"}
+{"uid":"17210595827263007627","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":"10528349137123799159.mp4"}
+{"uid":"14860724179436851691","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the book in a trolly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: put the book in a trolly\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the book in a trolly 2- grab the book 3- put the book in a trolly 4- put the book in the tray 5- lift the book\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the book in a trolly Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 book in a trolly\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray Q: immediate next step? \u003cPRED\u003eA: put the book in a trolly\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the book in a trolly\n\u003c/PRED\u003e","video":"110655460608071827.mp4"}
+{"uid":"13479581196629080819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace gel packets in door 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":"15697760535939351084.mp4"}
+{"uid":"5594789996476183578","text":"\u003ctask:success:discrete:False\u003e\nput the book in a trolly Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the book in a trolly\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the book in a trolly\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the book in a trolly\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: put the book in a trolly\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the book in a trolly Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 notepad onto the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the book in a trolly 2- Put the book in the tray 3- grab the book 4- put the book in a trolly 5- put the book in the tray\n\u003c/PRED\u003e","video":"8419098081926771615.mp4"}
+{"uid":"12712782040568093086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3240183848416731047.mp4"}
+{"uid":"18329806780212951138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18346722626616969836.mp4"}
+{"uid":"18320491242861369890","text":"\u003ctask:success:discrete:True\u003e\ngrab the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the book\n\u003c/PRED\u003e","video":"11832160374931354903.mp4"}
+{"uid":"15757873968605883571","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups on the existing cup stack in the spinning display Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17214953514945721639.mp4"}
+{"uid":"16991540187219713258","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":"16276247849719808459.mp4"}
+{"uid":"17353653154547519618","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the book\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- grab the book 2- put the book in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the book\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: grab the book\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray Q: immediate next step? \u003cPRED\u003eA: grab the book\n\u003c/PRED\u003e","video":"14373231164049036503.mp4"}
+{"uid":"7041754855805777209","text":"\u003ctask:success:discrete:True\u003e\nput the book 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 notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray 7- put the book in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the 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 book in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly 6- put the book in the tray 7- put the book in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"7433562251126303081.mp4"}
+{"uid":"11652838356662193987","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":"1993125371303482547.mp4"}
+{"uid":"16719159717290606441","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the 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":"4083393828420359908.mp4"}
+{"uid":"9370713207711303356","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14433118225663253234.mp4"}
+{"uid":"14041061634047774538","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: 1- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the pens in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: 1- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e","video":"7248585686746855307.mp4"}
+{"uid":"16267267944515716963","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the book\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- grab the book 2- put the book in a trolly 3- put the book in the tray 4- lift the book 5- put the book in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the book\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray Q: immediate next step? \u003cPRED\u003eA: grab the book\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: grab the book\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18104237028852141976.mp4"}
+{"uid":"14534329951668565006","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Arrange the sticky note 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"5977718928908780161.mp4"}
+{"uid":"2322704433682622168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7771090131594708732.mp4"}
+{"uid":"8771377028901923891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4513277352357311478.mp4"}
+{"uid":"6369250206432342173","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sanitizer bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk. last 20 steps: 1- Pick up the sanitizer bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sanitizer bottle on the table 2- Pick up the sticky notes 3- Pick up the pen 4- Put the sticky notes on the table 5- Put the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk. last 20 steps: 1- Pick up the sanitizer bottle Q: immediate next step? \u003cPRED\u003eA: Put the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk Q: immediate next step? \u003cPRED\u003eA: Put the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the sanitizer 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","video":"12131418828689132011.mp4"}
+{"uid":"10626706876763881210","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the sanitizer bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11454905014576322153.mp4"}
+{"uid":"900300879627161582","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the sanitizer bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the sanitizer bottle 2- Put the sanitizer bottle on the table 3- Pick up the sticky notes 4- Pick up the pen 5- 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: Pick up the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the sanitizer bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the sanitizer bottle\n\u003c/PRED\u003e","video":"11222454605785715791.mp4"}
+{"uid":"16384780357600282182","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly Q: immediate next step? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the book in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the book 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: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly Q: next 5 steps? \u003cPRED\u003eA: 1- put the book in the tray 2- lift the book 3- put the book in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the book in the tray\n\u003c/PRED\u003e","video":"14499021866318840783.mp4"}
+{"uid":"11652528030789557022","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the book\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 notepad onto the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: lift the book\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- lift the book 2- put the book in the tray 3- Put the book in the tray 4- grab the book 5- put the book in a trolly\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: lift the book\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the book\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13693698977568367381.mp4"}
+{"uid":"12857808805499185536","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the pens in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pens in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pens in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pens in the holder\n\u003c/PRED\u003e","video":"3733734626381719565.mp4"}
+{"uid":"10679025296233883878","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put notepad onto the tray Q: immediate next step? \u003cPRED\u003eA: Put the book in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the book 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 book in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book in the tray 2- grab the book 3- put the book in a trolly 4- put the book in the tray 5- lift the book\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put notepad onto the tray. last 20 steps: 1- lift the book 2- put the book in the tray Q: immediate next step? \u003cPRED\u003eA: Put the book in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book in the tray\n\u003c/PRED\u003e","video":"15859531606303278077.mp4"}
+{"uid":"15957603693003608480","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the pens in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the marker 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":"18258749745981162136.mp4"}
+{"uid":"3573021300891678023","text":"\u003ctask:success:discrete:True\u003e\nPick up the sanitizer bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 sanitizer bottle\n\u003c/PRED\u003e","video":"9847562517483134626.mp4"}
+{"uid":"4124986586426516455","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the book in a trolly\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the book in a trolly Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6966342483005044192.mp4"}
+{"uid":"1542493550794303500","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10415716878381750864.mp4"}
+{"uid":"14069226014423940749","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the pens in the holder 4- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Arrange the sticky note 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 holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please put the pens and highlighters back in the pen holder. last 20 steps: 1- Put the marker in the holder 2- Put the marker in the holder 3- Put the pens in the holder 4- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"2150605376696685098.mp4"}
+{"uid":"11687161234743564257","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the marker 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":"4762528472228797216.mp4"}
+{"uid":"9359367672877910770","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk. last 20 steps: 1- Pick up the sanitizer bottle 2- Put the sanitizer bottle on the table 3- Pick up the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen 2- Put the sticky notes on the table 3- Put the pen on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back while coming back bring me a pen and notepad from printer room to my desk. last 20 steps: 1- Pick up the sanitizer bottle 2- Put the sanitizer bottle on the table 3- Pick up the sticky notes Q: immediate next step? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5910060922509192463.mp4"}
+{"uid":"920201469657750539","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a bowl 2- drop packet into bowl 3- drop packet into bowl 4- drop the candy in a bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the candy in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e","video":"1456492743716360210.mp4"}
+{"uid":"134874150819920184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull 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":"13401561394149887038.mp4"}
+{"uid":"7443014655942088721","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper into the file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5286870748346103794.mp4"}
+{"uid":"14674823843822030727","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen on sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10660297268464674065.mp4"}
+{"uid":"3765597931384550694","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull 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: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull 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":"5792039899003898313.mp4"}
+{"uid":"2677738227120521238","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- pull the drawer 3- drop packet into bowl 4- pull the drawer 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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: pick candies from top drawer and place in bowl 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","video":"5235666114420808497.mp4"}
+{"uid":"2305183323272773861","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet 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":"14137527447521480060.mp4"}
+{"uid":"4969735701397171390","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the yellow ball on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17300719400164089271.mp4"}
+{"uid":"451531637200265326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the forks in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4538857858963632363.mp4"}
+{"uid":"14103575613669360897","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into bowl 2- drop packet into bowl 3- drop packet into bowl 4- drop the candy in a bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into 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: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e","video":"18100407983750606990.mp4"}
+{"uid":"6526389667548796375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet 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":"7306440673409453228.mp4"}
+{"uid":"11766855043687387786","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull 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: pull the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer 2- drop packet into bowl 3- drop packet into bowl 4- drop packet into bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull 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: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e","video":"3741798839907380673.mp4"}
+{"uid":"11316515696786980598","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl 13- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask: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: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl 13- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"464029287350892223.mp4"}
+{"uid":"9423048637890006934","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic knives in the black cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15947776753935236253.mp4"}
+{"uid":"17437462792697554302","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":"6340306214311576236.mp4"}
+{"uid":"5267668909567124240","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6054637471604529577.mp4"}
+{"uid":"16624706087513274282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange belt packet 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":"4255907018146744174.mp4"}
+{"uid":"2942464205230640251","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the candy in a 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":"3043853582503520096.mp4"}
+{"uid":"13159434521271582544","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e","video":"5308816733928589389.mp4"}
+{"uid":"1481246718096327118","text":"\u003ctask:success:discrete:False\u003e\nput candy in 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: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in bowl 2- drop packet into bowl 3- drop packet into bowl 4- drop packet into bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in 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":"18004670030876387469.mp4"}
+{"uid":"6327327229107465046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon in 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":"12258126661303456363.mp4"}
+{"uid":"9993216854322147558","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pen 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":"12534206702390058003.mp4"}
+{"uid":"9225159956524501813","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into bowl 2- drop packet into bowl 3- drop packet into bowl 4- drop packet into bowl 5- push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into 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: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet into 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: drop packet into bowl\n\u003c/PRED\u003e","video":"4271250803106288461.mp4"}
+{"uid":"5984476627665538119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4138409080624377862.mp4"}
+{"uid":"10273934234817397157","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl 13- drop packet into bowl 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl 13- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- close drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e","video":"14565721591728279021.mp4"}
+{"uid":"4666216180514499047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packets into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10465529615932640191.mp4"}
+{"uid":"6922976575113492373","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in 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: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in bowl 2- drop the candy in a bowl 3- drop packet into bowl 4- drop packet into bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in 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":"698870996810116018.mp4"}
+{"uid":"15989753674655501037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8123176090796306096.mp4"}
+{"uid":"16220756472657764951","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into 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":"567197697456294244.mp4"}
+{"uid":"8496394726998539586","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into bowl 2- drop the candy in a bowl 3- drop packet into bowl 4- drop packet into bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into 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\ndrop packet into 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":"4322516235322331685.mp4"}
+{"uid":"17842654086654541850","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candys in bowl 2- drop packet into bowl 3- drop packet into bowl 4- push the drawer 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: put candys in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candys in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candys in 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 candys in 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: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: put candys in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candys in bowl\n\u003c/PRED\u003e","video":"3133274922317789858.mp4"}
+{"uid":"14777779503309663773","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into 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":"10308422802402956522.mp4"}
+{"uid":"16656786030166706675","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a bowl 2- drop packet into bowl 3- drop packet into bowl 4- drop packet into bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the candy in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e","video":"14955018460954243230.mp4"}
+{"uid":"1460447041441115296","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open drawer 2- pull the drawer 3- drop packet into bowl 4- pull the drawer 5- drop packet into bowl\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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open 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:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \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","video":"224242834139481960.mp4"}
+{"uid":"8997075630991407139","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into 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: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into bowl 2- drop packet into bowl 3- drop packet into bowl 4- drop packet into bowl 5- drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e","video":"15906890783967890872.mp4"}
+{"uid":"5621382663853594526","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in 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 packet in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in 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":"10164200970007878054.mp4"}
+{"uid":"7366007557189709556","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"7440584530516785093.mp4"}
+{"uid":"8330461687535647994","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the jar 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":"3425153964175203694.mp4"}
+{"uid":"18129072344951978216","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":"10781370501047180913.mp4"}
+{"uid":"17298328447354672727","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl 13- drop packet into bowl 14- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl 13- drop packet into bowl 14- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"5000734315933127628.mp4"}
+{"uid":"15097491154399919686","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a bowl 2- drop the candy in a bowl 3- drop packet into bowl 4- drop packet into bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the candy in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e","video":"411112753992618014.mp4"}
+{"uid":"15911925432676420345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11889777425866362584.mp4"}
+{"uid":"17275217275129451681","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop the candies in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candies in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candies in a bowl 2- drop packet into bowl 3- drop packet into bowl 4- push the drawer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candies in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the candies in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candies in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the candies in a bowl\n\u003c/PRED\u003e","video":"7957573780813440202.mp4"}
+{"uid":"1227524198817250961","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14816890643829125249.mp4"}
+{"uid":"8865381873962531684","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":"874160529714723423.mp4"}
+{"uid":"7365639289343842767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup the orange from the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7946848486259685485.mp4"}
+{"uid":"17362791586164772759","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into bowl 2- drop packet into bowl 3- drop the candy in a bowl 4- drop packet into bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into 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 packet into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e","video":"14271575064916668577.mp4"}
+{"uid":"12133879123301092494","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into 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 packet into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into bowl 2- pull the drawer 3- drop packet into bowl 4- pull the drawer 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet into 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: drop packet into bowl\n\u003c/PRED\u003e","video":"6788293027846045699.mp4"}
+{"uid":"2039410166644170797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange ball in 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":"12308796474840385537.mp4"}
+{"uid":"11999488922645049110","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl 13- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- push the drawer 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl 13- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush 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\npush 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":"6410150272151895110.mp4"}
+{"uid":"15155333014357221702","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into 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":"1640124527325901108.mp4"}
+{"uid":"11616876280157536319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9028643259149358771.mp4"}
+{"uid":"3530916022134610769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tong 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":"9643186921895772080.mp4"}
+{"uid":"5019271702588779187","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in bowl 2- drop packet into bowl 3- drop the candy in a bowl 4- drop packet into bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in 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":"13887421154615277909.mp4"}
+{"uid":"2216074478280956989","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the key 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":"10315420002472335126.mp4"}
+{"uid":"5675289773748527605","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the orange 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":"11780834854492868449.mp4"}
+{"uid":"14710412437638092521","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"117656898791312297.mp4"}
+{"uid":"15200123805116377080","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull 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: pick candies from top drawer and place in bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull 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: pull the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e","video":"12061901477921091164.mp4"}
+{"uid":"12832770313307843510","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a bowl 2- drop packet into bowl 3- drop the candy in a bowl 4- drop packet into bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e","video":"11870001446262133007.mp4"}
+{"uid":"1699189202194326863","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow packet in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow packet in a bowl 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow packet in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow packet in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14867711950917923796.mp4"}
+{"uid":"7177363355115800473","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in bowl 2- push the drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in 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: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in 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 bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e","video":"8138277687778607813.mp4"}
+{"uid":"5793809070002848695","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in bowl 2- drop packet into bowl 3- drop packet into bowl 4- drop packet into bowl 5- push the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in 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 candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in 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":"3522553869425265360.mp4"}
+{"uid":"6460875597268092293","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in bowl 2- drop packet into bowl 3- drop the candy in a bowl 4- drop packet into bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in 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: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in 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 bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e","video":"9943890005848269114.mp4"}
+{"uid":"1695021991466235152","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into bowl 2- drop packet into bowl 3- drop packet into bowl 4- push the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into 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: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e","video":"5064844427633370339.mp4"}
+{"uid":"7871772552393275221","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into 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":"16250438161782385036.mp4"}
+{"uid":"15907468935111749866","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in bowl 2- push the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in 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 candy in 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: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e","video":"11869359683972997687.mp4"}
+{"uid":"6378964903400648036","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray in a order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9282485746839865369.mp4"}
+{"uid":"18032449048378697583","text":"\u003ctask:success:discrete:True\u003e\ndrop packet into 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: drop packet into bowl\n\u003c/PRED\u003e","video":"13119764350756578501.mp4"}
+{"uid":"5806566387596677789","text":"\u003ctask:success:discrete:True\u003e\ndrop packet into 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: drop packet into bowl\n\u003c/PRED\u003e","video":"15968588906707665069.mp4"}
+{"uid":"12608728634130327453","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into 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 packet into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into bowl 2- push the drawer 3- done\n\u003c/PRED\u003e","video":"2803931568027118896.mp4"}
+{"uid":"4115530539129912309","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into 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 packet into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet into 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: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into bowl 2- pull the drawer 3- drop packet into bowl 4- drop packet into bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e","video":"2088886624752955532.mp4"}
+{"uid":"14990766702418806093","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in 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 candy in 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 candy in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in bowl 2- drop packet into bowl 3- drop packet into bowl 4- drop packet into bowl 5- drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer Q: immediate next step? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in bowl\n\u003c/PRED\u003e","video":"10927445879268974882.mp4"}
+{"uid":"7242961266889466994","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a bowl 2- push the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the candy in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17227022926582598146.mp4"}
+{"uid":"15009649905674295548","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npush the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl 13- drop packet into bowl 14- push the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl 12- drop packet into bowl 13- drop packet into bowl 14- push the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6732489630746376979.mp4"}
+{"uid":"13036158359847550528","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into 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: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into bowl 2- drop packet into bowl 3- push the drawer 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl 10- drop the candy in a bowl 11- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop packet into bowl\n\u003c/PRED\u003e","video":"10047892704917892643.mp4"}
+{"uid":"8837272983858427879","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a bowl 2- drop packet into bowl 3- drop the candy in a bowl 4- drop packet into bowl 5- drop packet into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9700254374424055203.mp4"}
+{"uid":"8502809631135761522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12327686311773225044.mp4"}
+{"uid":"7203171337896643305","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes 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":"13033382563025304846.mp4"}
+{"uid":"15013745442607603228","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRemove the lid of the glass container place it on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14342306334226894408.mp4"}
+{"uid":"9968930263436456257","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7142439896789168673.mp4"}
+{"uid":"8941477207459439431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue pen in a 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":"97307274196358312.mp4"}
+{"uid":"17332014722419359302","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the candy in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick candies from top drawer and place in bowl. last 20 steps: 1- pull the drawer 2- drop packet into bowl 3- pull the drawer 4- drop packet into bowl 5- pull the drawer 6- drop packet into bowl 7- drop packet into bowl 8- drop packet into bowl 9- drop packet into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a bowl 2- drop packet into bowl 3- drop packet into bowl 4- push the drawer 5- done\n\u003c/PRED\u003e","video":"12180459696209965754.mp4"}
+{"uid":"15881572071102952065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the 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":"8833788318247719999.mp4"}
+{"uid":"2031430626860905617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntransfer the chips 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":"15627567908361427061.mp4"}
+{"uid":"16235712108886378204","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red bull 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":"7378324126982218630.mp4"}
+{"uid":"1544390373872802004","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- drop the red bull can on a table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"14275814214158362299.mp4"}
+{"uid":"5602810092615783973","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull 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 red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can on the table 2- drop the red bull can on a table 3- drop the red bull can on a table 4- done\n\u003c/PRED\u003e","video":"15011728891283269163.mp4"}
+{"uid":"17634898172911421209","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":"8036570245265476792.mp4"}
+{"uid":"6168673616083408194","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can on the table 2- drop the red bull can on a table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table\n\u003c/PRED\u003e","video":"10324304059898328372.mp4"}
+{"uid":"9067014393228349113","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":"4932976000604587229.mp4"}
+{"uid":"2964445784572143184","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- drop the red bull can on a table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table\n\u003c/PRED\u003e","video":"3471448851430039974.mp4"}
+{"uid":"14206939404881949525","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the red bull can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the red bull can on a table 2- drop the red bull can on a table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e","video":"9360509371294395696.mp4"}
+{"uid":"10516628627163051358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the basket on 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":"6321214651400738380.mp4"}
+{"uid":"14921946052132585264","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table 7- drop the red bull can on a table 8- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table 7- drop the red bull can on a table 8- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the red bull can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15110719381952150545.mp4"}
+{"uid":"13731278004928722341","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can on the table 2- drop the red bull can on a table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the red bull 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 red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e","video":"3701836255274240983.mp4"}
+{"uid":"10684318688383370467","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull 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 red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can on the table 2- drop the red bull can on a table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull 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 red bull can on the table\n\u003c/PRED\u003e","video":"2575346188605387825.mp4"}
+{"uid":"8097590429354725799","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the red bull can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the red bull can on a table 2- drop the red bull can on a table 3- drop the red bull can on a table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e","video":"8816023706760668515.mp4"}
+{"uid":"12992282182369629765","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the 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":"2405738310817365376.mp4"}
+{"uid":"17348716512163399760","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":"7324420217148698815.mp4"}
+{"uid":"18055545632259501160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the can 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":"4339620228038390934.mp4"}
+{"uid":"12392781378035419977","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the red bull can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9034873669960111757.mp4"}
+{"uid":"12513329221880605958","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the red bull can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the red bull can on a table 2- drop the red bull can on a table 3- done\n\u003c/PRED\u003e","video":"14686349778853674000.mp4"}
+{"uid":"5147467364134952009","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red bull 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":"7466752603884044723.mp4"}
+{"uid":"12044530310689074663","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull 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 red bull from the tray. last 20 steps: 1- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: Place the red bull 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can on the table 2- drop the red bull can on a table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table\n\u003c/PRED\u003e","video":"712501886111634551.mp4"}
+{"uid":"17615255124548990379","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table 7- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table 7- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11407569328638282478.mp4"}
+{"uid":"5133544721326743545","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green 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":"8024171161989491652.mp4"}
+{"uid":"15389241252515160807","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the red bull can on a table 2- drop the red bull can on a table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the red bull can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the red bull can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14457083872949860431.mp4"}
+{"uid":"15351998154979375147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon 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":"12866566899140130002.mp4"}
+{"uid":"14170460328139541155","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace apple inside the large white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4727604713861170687.mp4"}
+{"uid":"17840829479741076153","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":"22308876694280525.mp4"}
+{"uid":"16192645510968441771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"17984781559781107530.mp4"}
+{"uid":"4464043443555314895","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"10024610998936019088.mp4"}
+{"uid":"13633710072877602492","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy 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":"7304948679287991058.mp4"}
+{"uid":"18414830561426597500","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table 7- drop the red bull can on a table 8- Place the red bull can 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table 7- drop the red bull can on a table 8- Place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red bull 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:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14008779705954398539.mp4"}
+{"uid":"8278109653647191025","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":"4394094271186393926.mp4"}
+{"uid":"4443551652465433350","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red bull 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":"98401583192526333.mp4"}
+{"uid":"5719053452070122724","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- drop the red bull can on a table 3- drop the red bull can on a table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"10059407194218444060.mp4"}
+{"uid":"10811830124188391869","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the red bull can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13373700070839440422.mp4"}
+{"uid":"17440567261648502106","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: Place the red bull 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can on the table 2- drop the red bull can on a table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull 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":"12081741099241587168.mp4"}
+{"uid":"15526978815415295411","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e","video":"6141081246815004695.mp4"}
+{"uid":"5020200234836996212","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"731372522338396218.mp4"}
+{"uid":"3843190924922269073","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":"11632210047602822224.mp4"}
+{"uid":"1648680623533341865","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":"1614826008325111655.mp4"}
+{"uid":"14059527132268770880","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the orange cable on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5723136505145796842.mp4"}
+{"uid":"1498843586601565053","text":"\u003ctask:success:discrete:True\u003e\nPlace the red bull 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 red bull can on the table\n\u003c/PRED\u003e","video":"11194727400183388027.mp4"}
+{"uid":"14558391636298945408","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly move down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13047432159556871775.mp4"}
+{"uid":"16977255743885429775","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the red bull can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the red bull can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11048458122831825674.mp4"}
+{"uid":"8719471273127119130","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3048762797794663538.mp4"}
+{"uid":"10653807457783649436","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- drop the red bull can on a table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- done\n\u003c/PRED\u003e","video":"620752801638262526.mp4"}
+{"uid":"5514470486779923084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick apple from the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14598491183307450305.mp4"}
+{"uid":"12064618449564640466","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- drop the red bull can on a table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"16027944337048031994.mp4"}
+{"uid":"8285098169452277276","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the red bull can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7305799590200670498.mp4"}
+{"uid":"5666512764362992811","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tissue 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":"2048427002147312039.mp4"}
+{"uid":"5786117045913637657","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- drop the red bull can on a table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14024874091854647105.mp4"}
+{"uid":"6081053294543144306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a candy in 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":"4739450962489453163.mp4"}
+{"uid":"15666659916471662387","text":"\u003ctask:success:discrete:True\u003e\ndrop the red bull can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e","video":"16065627218056746463.mp4"}
+{"uid":"18400488124464334596","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the red bull can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table 7- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the red bull can on a table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table 7- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e","video":"7615538701253662847.mp4"}
+{"uid":"5948536787057250129","text":"\u003ctask:success:discrete:True\u003e\ndrop the red bull can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e","video":"6193859284821790678.mp4"}
+{"uid":"1274285650879189810","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":"9859358399870836875.mp4"}
+{"uid":"4155089154553375148","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table 7- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table 6- drop the red bull can on a table 7- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can on the table 2- done\n\u003c/PRED\u003e","video":"17801242664511626008.mp4"}
+{"uid":"11693136408979989627","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the red bull can on a table 2- drop the red bull can on a table 3- drop the red bull can on a table 4- drop the red bull can on a table 5- drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the red bull can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the red bull can on a table 2- Place the red bull can on the table 3- drop the red bull can on a table Q: immediate next step? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e","video":"3224203906360933354.mp4"}
+{"uid":"6572706054353976839","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the red bull can on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the red bull can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4366185773004766571.mp4"}
+{"uid":"17258230899505042480","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2017369175664519620.mp4"}
+{"uid":"1476707171012328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18376583379245628154.mp4"}
+{"uid":"7218771551238810146","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":"12920557433393576395.mp4"}
+{"uid":"14949887075332839480","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the yellow marker 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":"12337601225906531880.mp4"}
+{"uid":"10686911054502529345","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the holder 2- place the blue pen in the holder 3- place the green marker in the holder 4- place the green marker in the holder 5- place the blue pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e","video":"4906942892242288872.mp4"}
+{"uid":"2355336888242522989","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place the green marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the green marker in the holder 2- place the blue pens in the holder 3- place  blue pen in the holder 4- place the blue pen in the holder 5- place the red  marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder Q: immediate next step? \u003cPRED\u003eA: place the green marker in the holder\n\u003c/PRED\u003e","video":"6029002321827297634.mp4"}
+{"uid":"11234584985479000050","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder 14- place  blue marker in the holder 15- place blue pen in the holder 16- place  blue pen in the holder 17- place  blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place  blue pen in the holder 2- place  blue pen in the holder 3- place  blue pen in the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder 14- place  blue marker in the holder 15- place blue pen in the holder 16- place  blue pen in the holder 17- place  blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace  blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10721306466013951455.mp4"}
+{"uid":"3929624846613765947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the yellow marker 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":"8519868446823543139.mp4"}
+{"uid":"1313091306046908590","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder 14- place  blue marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen in the holder 2- place  blue pen in the holder 3- place  blue pen in the holder 4- place  blue pen in the holder 5- place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder 14- place  blue marker in the holder Q: immediate next step? \u003cPRED\u003eA: place blue pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17486481528928257092.mp4"}
+{"uid":"5713333334127142870","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place blue marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace blue marker 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":"16506008100989867621.mp4"}
+{"uid":"2666403985966509345","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place the blue pens in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pens in the holder 2- place  blue pen in the holder 3- place the blue pen in the holder 4- place the red  marker in the holder 5- place blue marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pens in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder Q: immediate next step? \u003cPRED\u003eA: place the blue pens in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue pens in the holder\n\u003c/PRED\u003e","video":"5026401105760245412.mp4"}
+{"uid":"3403195699224142138","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the holder 2- place the red  marker in the holder 3- place blue marker in the holder 4- place  blue marker in the holder 5- place blue pen in the holder\n\u003c/PRED\u003e","video":"508475599739277964.mp4"}
+{"uid":"10819341464574881109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6974182167734171933.mp4"}
+{"uid":"18254008688675024858","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace  blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place  blue pen in the holder 2- place the blue pen in the holder 3- place the red  marker in the holder 4- place blue marker in the holder 5- place  blue marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder Q: immediate next step? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e","video":"17964092810106326933.mp4"}
+{"uid":"10198230677024059869","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace paper 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":"10264553373354368938.mp4"}
+{"uid":"8960450258502034803","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"14566096452681490048.mp4"}
+{"uid":"11133514700010146778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4137573688795146589.mp4"}
+{"uid":"3166554626642452578","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace  blue pen 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":"7160158784505764994.mp4"}
+{"uid":"5734092634815390632","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen in the holder 2- place blue pen in the holder 3- place  blue marker in the holder 4- place blue pen in the holder 5- place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder Q: immediate next step? \u003cPRED\u003eA: place blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen in the holder\n\u003c/PRED\u003e","video":"228792612673465525.mp4"}
+{"uid":"14859954043333989195","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder 14- place  blue marker in the holder 15- place blue pen in the holder 16- place  blue pen in the holder 17- place  blue pen in the holder 18- place  blue pen in the holder 19- place  blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder 14- place  blue marker in the holder 15- place blue pen in the holder 16- place  blue pen in the holder 17- place  blue pen in the holder 18- place  blue pen in the holder 19- place  blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place  blue pen in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e","video":"15240158427334744563.mp4"}
+{"uid":"2387255739943602245","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":"6836138868883936992.mp4"}
+{"uid":"1922047297950634877","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place the red  marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red  marker 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: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the red  marker in the holder 2- place blue marker in the holder 3- place  blue marker in the holder 4- place blue pen in the holder 5- place blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the red  marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red  marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red  marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red  marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15111170332548952983.mp4"}
+{"uid":"8148441106933873690","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the green marker in the holder 2- place the green marker in the holder 3- place the blue pens in the holder 4- place  blue pen in the holder 5- place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green marker 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: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the green marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place the green marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green marker in the holder\n\u003c/PRED\u003e","video":"16351435795289736337.mp4"}
+{"uid":"7678876405204183949","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace blue pen 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":"15539484806296668525.mp4"}
+{"uid":"14085791972751423190","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue pen 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":"4674869545635205961.mp4"}
+{"uid":"2161812382080054410","text":"\u003ctask:success:discrete:True\u003e\nplace  blue marker 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  blue marker in the holder\n\u003c/PRED\u003e","video":"10589477695681743363.mp4"}
+{"uid":"2212099346231040670","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder 14- place  blue marker in the holder 15- place blue pen in the holder 16- place  blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace  blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder 14- place  blue marker in the holder 15- place blue pen in the holder 16- place  blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place  blue pen in the holder 2- place  blue pen in the holder 3- place  blue pen in the holder 4- place  blue pen in the holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e","video":"9706920785005786865.mp4"}
+{"uid":"1337401886453808950","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place  blue marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace  blue marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  blue marker 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: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder Q: immediate next step? \u003cPRED\u003eA: place  blue marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place  blue marker in the holder 2- place blue pen in the holder 3- place blue pen in the holder 4- place  blue marker in the holder 5- place blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  blue marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  blue marker in the holder\n\u003c/PRED\u003e","video":"2727899972288859128.mp4"}
+{"uid":"15486174950586597205","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place blue pen in the holder 2- place  blue marker in the holder 3- place blue pen in the holder 4- place  blue pen in the holder 5- place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place blue pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: place blue pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4321607548280347332.mp4"}
+{"uid":"12186703748949791858","text":"\u003ctask:success:discrete:True\u003e\nplace the blue pens in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue pens in the holder\n\u003c/PRED\u003e","video":"16906712394544160285.mp4"}
+{"uid":"9201376747952088444","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":"14323019665674091885.mp4"}
+{"uid":"8969914097882609025","text":"\u003ctask:success:discrete:True\u003e\nplace blue pen 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 blue pen in the holder\n\u003c/PRED\u003e","video":"5209317849910303504.mp4"}
+{"uid":"5870648176130837750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2466041453742459901.mp4"}
+{"uid":"16250617541321264766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pipcorn 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":"5094115788659433876.mp4"}
+{"uid":"6750713897615331830","text":"\u003ctask:success:discrete:False\u003e\nplace the yellow marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow marker in the holder\n\u003c/PRED\u003e","video":"14960122295505006794.mp4"}
+{"uid":"285172057099984130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky notes in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7399866353232246386.mp4"}
+{"uid":"12903902413733031864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11463556422256633081.mp4"}
+{"uid":"18132605383273520858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the second right chair backwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2509816270138119102.mp4"}
+{"uid":"18366569544955382060","text":"\u003ctask:success:discrete:False\u003e\nplace  blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder 14- place  blue marker in the holder 15- place blue pen in the holder 16- place  blue pen in the holder 17- place  blue pen in the holder 18- place  blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder 14- place  blue marker in the holder 15- place blue pen in the holder 16- place  blue pen in the holder 17- place  blue pen in the holder 18- place  blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place  blue pen in the holder 2- place  blue pen in the holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13175438474605865233.mp4"}
+{"uid":"12218946735169730360","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder 14- place  blue marker in the holder 15- place blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place  blue pen in the holder 2- place  blue pen in the holder 3- place  blue pen in the holder 4- place  blue pen in the holder 5- place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder 14- place  blue marker in the holder 15- place blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace  blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3548166069453573711.mp4"}
+{"uid":"16632196178391619321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace nut in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4736593084532105314.mp4"}
+{"uid":"17888932066923013531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic 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":"9866079762488027359.mp4"}
+{"uid":"2360379921712571851","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue pen in the holder 2- place the green marker in the holder 3- place the green marker in the holder 4- place the blue pens in the holder 5- place  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue pen in the holder\n\u003c/PRED\u003e","video":"15714421601520267609.mp4"}
+{"uid":"9407424892102272669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white round chocolate 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":"4732169224612669158.mp4"}
+{"uid":"8028760236030305112","text":"\u003ctask:success:discrete:False\u003e\nplace blue marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place blue marker in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder Q: immediate next step? \u003cPRED\u003eA: place blue marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place blue marker in the holder 2- place blue pen in the holder 3- place blue pen in the holder 4- place  blue marker in the holder 5- place blue pen in the holder\n\u003c/PRED\u003e","video":"2524418258849373622.mp4"}
+{"uid":"11880253305585440899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the  orange  marker in 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":"11739624226157008352.mp4"}
+{"uid":"12190096654539745895","text":"\u003ctask:success:discrete:True\u003e\nplace the red  marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red  marker in the holder\n\u003c/PRED\u003e","video":"7806066968487019575.mp4"}
+{"uid":"13657329206783745273","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  blue marker 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  blue marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  blue marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  blue marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: place  blue marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: place  blue marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place  blue marker in the holder 2- place blue pen in the holder 3- place  blue pen in the holder 4- place  blue pen in the holder 5- place  blue pen in the holder\n\u003c/PRED\u003e","video":"17057958943564581731.mp4"}
+{"uid":"15831299345671457472","text":"\u003ctask:success:discrete:True\u003e\nplace  blue pen 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  blue pen in the holder\n\u003c/PRED\u003e","video":"2094342006324828723.mp4"}
+{"uid":"3379638794728831525","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5402444017827812684.mp4"}
+{"uid":"7735425683586581450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the brown belt on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5250441108484754604.mp4"}
+{"uid":"14783811749613459029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace stapler on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7472997645382166319.mp4"}
+{"uid":"9384518019345347947","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder 14- place  blue marker in the holder 15- place blue pen in the holder 16- place  blue pen in the holder 17- place  blue pen in the holder 18- place  blue pen in the holder 19- place  blue pen in the holder 20- place  blue pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace  blue pen 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  blue pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the metal tin. last 20 steps: 1- place the yellow marker in the holder 2- place the blue pen in the holder 3- place the blue pen in the holder 4- place the green marker in the holder 5- place the green marker in the holder 6- place the blue pens in the holder 7- place  blue pen in the holder 8- place the blue pen in the holder 9- place the red  marker in the holder 10- place blue marker in the holder 11- place  blue marker in the holder 12- place blue pen in the holder 13- place blue pen in the holder 14- place  blue marker in the holder 15- place blue pen in the holder 16- place  blue pen in the holder 17- place  blue pen in the holder 18- place  blue pen in the holder 19- place  blue pen in the holder 20- place  blue pen in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13151629964868049287.mp4"}
+{"uid":"4107934330111729322","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place  blue marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace  blue marker 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":"9174141613015096253.mp4"}
+{"uid":"14206038489816912358","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass 6- put fork in the glass 7- put forks in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put forks in the glass 2- put fork in the glass 3- put fork in the glass 4- put fork in the glass 5- put forks in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put forks in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put forks in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put forks in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass 6- put fork in the glass 7- put forks in the glass Q: immediate next step? \u003cPRED\u003eA: put forks in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput forks 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":"15325194622751983658.mp4"}
+{"uid":"13844229604218422937","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":"4342446039977113100.mp4"}
+{"uid":"3607738128230506240","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork 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 fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the glass 2- put fork in the glass 3- put fork in the glass 4- put forks in the glass 5- put forks in the glass\n\u003c/PRED\u003e","video":"5671152714643650948.mp4"}
+{"uid":"867619797183004523","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the glass 2- put forks in the glass 3- put fork in the glass 4- put fork in the glass 5- put fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e","video":"2870168165522358209.mp4"}
+{"uid":"6771607667385357417","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: write on the board with the red marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: write on the board with the red marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwrite on the board with the red marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write on the board with the red marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- write on the board with the red marker 2- clean the board with the duster 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: write on the board with the red marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the board with the red marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2572976045779153430.mp4"}
+{"uid":"13597252613236359987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon 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":"11150134752770965209.mp4"}
+{"uid":"11061839457365974984","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput forks 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 forks in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass Q: immediate next step? \u003cPRED\u003eA: put forks in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put forks in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put forks in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put forks in the glass 2- put fork in the glass 3- put fork in the glass 4- put fork in the glass 5- put forks in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput forks 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":"3963156807769417679.mp4"}
+{"uid":"8185478625785094491","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":"1183438093611020648.mp4"}
+{"uid":"17506795769004220206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12693446479741427101.mp4"}
+{"uid":"9102206726931505316","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass 6- put fork in the glass 7- put forks in the glass 8- put forks in the glass 9- put fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass 6- put fork in the glass 7- put forks in the glass 8- put forks in the glass 9- put fork in the glass Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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":"16093991097713136192.mp4"}
+{"uid":"169932367306641860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7550797670642622328.mp4"}
+{"uid":"9943888646073982946","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- write on the board with the red marker 2- clean the board with the duster Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean the board with the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the board with the duster\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- write on the board with the red marker 2- clean the board with the duster Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"14039642882097893881.mp4"}
+{"uid":"12090138858386335390","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the screen cleaning wipe sachet in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13424784750285186199.mp4"}
+{"uid":"16996329745936030260","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":"6911684349198622805.mp4"}
+{"uid":"8578081706503891017","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put forks in the glass 5- put fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e","video":"16744958941877724170.mp4"}
+{"uid":"414104723097435773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack white book vertically Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18401504098342200973.mp4"}
+{"uid":"1734649659165194462","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the board with the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the board with the duster\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: clean the board with the duster\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- write on the board with the red marker Q: immediate next step? \u003cPRED\u003eA: clean the board with the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the board with the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- write on the board with the red marker Q: next 5 steps? \u003cPRED\u003eA: 1- clean the board with the duster 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the board with the duster\n\u003c/PRED\u003e","video":"3075544604729622766.mp4"}
+{"uid":"16665338380407375796","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tray of 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":"9577464315628372660.mp4"}
+{"uid":"7459498118399561632","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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 fork 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: please pick up all the fork on the table and place them back into the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e","video":"4171194848120547593.mp4"}
+{"uid":"10172392925251054399","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the glass 2- put forks in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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 fork 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 fork in the glass\n\u003c/PRED\u003e","video":"12238553299547107587.mp4"}
+{"uid":"4628043805512830657","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":"1205946577503271101.mp4"}
+{"uid":"9803280121048832258","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"30520031014121359.mp4"}
+{"uid":"13081605252550551542","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass 6- put fork in the glass 7- put forks in the glass 8- put forks in the glass 9- put fork in the glass 10- put fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the glass 2- put forks in the glass 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass 6- put fork in the glass 7- put forks in the glass 8- put forks in the glass 9- put fork in the glass 10- put fork in the glass Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e","video":"6723810867625211112.mp4"}
+{"uid":"8659955946880798794","text":"\u003ctask:success:discrete:True\u003e\nwrite on the board with the red marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: write on the board with the red marker\n\u003c/PRED\u003e","video":"4929947197645105993.mp4"}
+{"uid":"9149192839006449275","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass 6- put fork in the glass 7- put forks in the glass 8- put forks in the glass 9- put fork in the glass 10- put fork in the glass 11- put fork in the glass Q: immediate next step? \u003cPRED\u003eA: put forks in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass 6- put fork in the glass 7- put forks in the glass 8- put forks in the glass 9- put fork in the glass 10- put fork in the glass 11- put fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put forks in the glass 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put forks in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put forks in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put forks in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput forks 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 forks 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":"11379627895161204570.mp4"}
+{"uid":"11822503488094051036","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":"548619695899620738.mp4"}
+{"uid":"8553024910231135509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"60663501224948904.mp4"}
+{"uid":"12247912441322582789","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput forks in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put forks in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass 6- put fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put forks in the glass 2- put forks in the glass 3- put fork in the glass 4- put fork in the glass 5- put fork in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput forks in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put forks in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put forks in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass 6- put fork in the glass Q: immediate next step? \u003cPRED\u003eA: put forks in the glass\n\u003c/PRED\u003e","video":"17344698521120784826.mp4"}
+{"uid":"13164025312902175731","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork 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 fork in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass 6- put fork in the glass 7- put forks in the glass 8- put forks in the glass Q: immediate next step? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up all the fork on the table and place them back into the cup. last 20 steps: 1- put fork in the glass 2- put fork in the glass 3- put forks in the glass 4- put fork in the glass 5- put fork in the glass 6- put fork in the glass 7- put forks in the glass 8- put forks in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the glass 2- put fork in the glass 3- put fork in the glass 4- put forks in the glass 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in the glass\n\u003c/PRED\u003e","video":"16401921843465698246.mp4"}
+{"uid":"13660745238235161302","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":"18423324077009026645.mp4"}
+{"uid":"3304406826786922823","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":"14372121040591622339.mp4"}
+{"uid":"13922263782000639018","text":"\u003ctask:success:discrete:False\u003e\nplace the spoon in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: 1- unstack the bowl 2- place the bowl under the cereal dispenser 3- pour cereals in the bowl from the dispenser 4- place the bowl on the table Q: immediate next step? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: 1- unstack the bowl 2- place the bowl under the cereal dispenser 3- pour cereals in the bowl from the dispenser 4- place the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e","video":"12444721477175851722.mp4"}
+{"uid":"16906698469137929198","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the  white 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":"11748568160368365650.mp4"}
+{"uid":"17499418711672104330","text":"\u003ctask:success:discrete:True\u003e\nplace the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e","video":"3850651024414644056.mp4"}
+{"uid":"10846525691043783912","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17910333632123034569.mp4"}
+{"uid":"6402426318417628422","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper  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":"11970806148143291295.mp4"}
+{"uid":"15798530383146924425","text":"\u003ctask:success:discrete:False\u003e\nPut the fork 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: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass 14- Put the plastic knife in the glass 15- Put the plastic knifes in the glass Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass 14- Put the plastic knife in the glass 15- Put the plastic knifes in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the glass 2- Put the plastic knifes in the glass 3- Put the plastic knife in the glass 4- Put the plastic knifes in the glass 5- Put the plastic knife in the glass\n\u003c/PRED\u003e","video":"5597575427007278301.mp4"}
+{"uid":"2744584408730620815","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass 14- Put the plastic knife in the glass 15- Put the plastic knifes in the glass 16- Put the fork in the glass 17- Put the plastic knifes in the glass 18- Put the plastic knife in the glass 19- Put the plastic knifes in the glass 20- Put the plastic knife in the glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\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 glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass 14- Put the plastic knife in the glass 15- Put the plastic knifes in the glass 16- Put the fork in the glass 17- Put the plastic knifes in the glass 18- Put the plastic knife in the glass 19- Put the plastic knifes in the glass 20- Put the plastic knife in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the glass 2- Put the plastic knife in the glass 3- Put the plastic knife in the glass 4- Put the plastic knife in the glass 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic knife in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e","video":"15126795784899878808.mp4"}
+{"uid":"18144471216274647326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the blue pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13928615986217245581.mp4"}
+{"uid":"1106724096943426089","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- place the bowl under the cereal dispenser 3- pour cereals in the bowl from the dispenser 4- place the bowl on the table 5- place the spoon in the bowl\n\u003c/PRED\u003e","video":"18434377128032248676.mp4"}
+{"uid":"880875670142421420","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the plastic knife in the glass 7- Put the fork in the glass 8- Put the forks in the glass 9- Put the fork in the glass 10- Put the fork in the glass 11- Put the plastic spoon in the glass 12- Put the plastic knife in the glass 13- Put the plastic knife in the glass 14- Put the plastic knifes in the glass 15- Put the fork in the glass 16- Put the plastic knifes in the glass 17- Put the plastic knife in the glass 18- Put the plastic knifes in the glass 19- Put the plastic knife in the glass 20- Put the plastic knife in the glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the plastic knife in the glass 7- Put the fork in the glass 8- Put the forks in the glass 9- Put the fork in the glass 10- Put the fork in the glass 11- Put the plastic spoon in the glass 12- Put the plastic knife in the glass 13- Put the plastic knife in the glass 14- Put the plastic knifes in the glass 15- Put the fork in the glass 16- Put the plastic knifes in the glass 17- Put the plastic knife in the glass 18- Put the plastic knifes in the glass 19- Put the plastic knife in the glass 20- Put the plastic knife in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the glass 2- Put the plastic knife in the glass 3- Put the plastic knife in the glass 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e","video":"4896001936957581325.mp4"}
+{"uid":"657192057094697108","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass 14- Put the plastic knife in the glass 15- Put the plastic knifes in the glass 16- Put the fork in the glass 17- Put the plastic knifes in the glass 18- Put the plastic knife in the glass 19- Put the plastic knifes in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the glass 2- Put the plastic knife in the glass 3- Put the plastic knife in the glass 4- Put the plastic knife in the glass 5- Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass 14- Put the plastic knife in the glass 15- Put the plastic knifes in the glass 16- Put the fork in the glass 17- Put the plastic knifes in the glass 18- Put the plastic knife in the glass 19- Put the plastic knifes in the glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic knife in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e","video":"12502144748452120825.mp4"}
+{"uid":"4515209828810121872","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":"13800253303823713210.mp4"}
+{"uid":"9371517449206031465","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\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 glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the glass 2- Put the plastic knifes in the glass 3- Put the fork in the glass 4- Put the plastic knifes in the glass 5- Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife 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":"17494271453325163977.mp4"}
+{"uid":"11933653360005590541","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the fork 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: Please place the utensils into the cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e","video":"226568999246977407.mp4"}
+{"uid":"2049739716132059783","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":"4053114721542600022.mp4"}
+{"uid":"9830663417838588731","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":"2861703703345910396.mp4"}
+{"uid":"10128092249299252243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"13978413479123204556.mp4"}
+{"uid":"17294364116822984795","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the glass 2- Put the plastic knife in the glass 3- Put the plastic knife in the glass 4- Put the plastic knifes in the glass 5- Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11643540957139006202.mp4"}
+{"uid":"11285933773623091066","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the plastic knife in the glass 5- Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork 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":"8572050822974706755.mp4"}
+{"uid":"717041532500905320","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the glass 2- Put the plastic spoon in the glass 3- Put the plastic knife in the glass 4- Put the plastic knife in the glass 5- Put the plastic knifes in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e","video":"12358836709130347049.mp4"}
+{"uid":"9356104258514533327","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass Q: immediate next step? \u003cPRED\u003eA: Put the forks in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the forks in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the forks in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the plastic spoon in the glass 5- Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the forks in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the forks in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the forks in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the forks in the glass\n\u003c/PRED\u003e","video":"11846363997600609253.mp4"}
+{"uid":"11562621693818684028","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the round 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":"11726143490748594327.mp4"}
+{"uid":"8620051914330350108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the spatula Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"271762061839765726.mp4"}
+{"uid":"6991833262534927039","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork 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":"11041371380120547135.mp4"}
+{"uid":"737747762180965407","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the glass 2- Put the plastic knife in the glass 3- Put the fork in the glass 4- Put the forks in the glass 5- Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e","video":"4159906389293254647.mp4"}
+{"uid":"9332167835874508449","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":"17550894140034746267.mp4"}
+{"uid":"10233273191678272463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup the cloth Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11725824478937807513.mp4"}
+{"uid":"15723844551592584679","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic knife in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the glass 2- Put the plastic knife in the glass 3- Put the plastic knifes in the glass 4- Put the fork in the glass 5- Put the plastic knifes in the glass\n\u003c/PRED\u003e","video":"8623727328237773734.mp4"}
+{"uid":"12536882930953717032","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the plastic knife in the glass 5- Put the fork in the glass 6- Put the forks in the glass 7- Put the fork in the glass 8- Put the fork in the glass 9- Put the plastic spoon in the glass 10- Put the plastic knife in the glass 11- Put the plastic knife in the glass 12- Put the plastic knifes in the glass 13- Put the fork in the glass 14- Put the plastic knifes in the glass 15- Put the plastic knife in the glass 16- Put the plastic knifes in the glass 17- Put the plastic knife in the glass 18- Put the plastic knife in the glass 19- Put the plastic knife in the glass 20- Put the plastic knife in the glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the plastic knife in the glass 5- Put the fork in the glass 6- Put the forks in the glass 7- Put the fork in the glass 8- Put the fork in the glass 9- Put the plastic spoon in the glass 10- Put the plastic knife in the glass 11- Put the plastic knife in the glass 12- Put the plastic knifes in the glass 13- Put the fork in the glass 14- Put the plastic knifes in the glass 15- Put the plastic knife in the glass 16- Put the plastic knifes in the glass 17- Put the plastic knife in the glass 18- Put the plastic knife in the glass 19- Put the plastic knife in the glass 20- Put the plastic knife in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the glass 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic knife in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\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 glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e","video":"9631857566165040803.mp4"}
+{"uid":"4644426631702356986","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":"7897637777557566162.mp4"}
+{"uid":"16977922428540124168","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":"13318079442223227172.mp4"}
+{"uid":"5349123898319506720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace book in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4743899325988781135.mp4"}
+{"uid":"18086310914534698411","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":"14496989299289591312.mp4"}
+{"uid":"14890879874511297613","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the glass 2- Put the fork in the glass 3- Put the forks in the glass 4- Put the fork in the glass 5- Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic knife 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 the plastic knife in the glass\n\u003c/PRED\u003e","video":"16007474188454490202.mp4"}
+{"uid":"12410339342395323948","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the bowl to 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":"8911348424061445860.mp4"}
+{"uid":"2416869689729419399","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knifes in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass 14- Put the plastic knife in the glass 15- Put the plastic knifes in the glass 16- Put the fork in the glass 17- Put the plastic knifes in the glass 18- Put the plastic knife in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knifes in the glass 2- Put the plastic knife in the glass 3- Put the plastic knife in the glass 4- Put the plastic knife in the glass 5- Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knifes in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic knifes in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the plastic knifes in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knifes in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass 14- Put the plastic knife in the glass 15- Put the plastic knifes in the glass 16- Put the fork in the glass 17- Put the plastic knifes in the glass 18- Put the plastic knife in the glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knifes in the glass\n\u003c/PRED\u003e","video":"3385961746798731238.mp4"}
+{"uid":"422108022228781903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15389790160622718190.mp4"}
+{"uid":"12305284745221997062","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour cereals in the bowl from the dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour cereals in the bowl from the dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13788224760209107238.mp4"}
+{"uid":"2630679915816024787","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the plastic knife in the glass 6- Put the fork in the glass 7- Put the forks in the glass 8- Put the fork in the glass 9- Put the fork in the glass 10- Put the plastic spoon in the glass 11- Put the plastic knife in the glass 12- Put the plastic knife in the glass 13- Put the plastic knifes in the glass 14- Put the fork in the glass 15- Put the plastic knifes in the glass 16- Put the plastic knife in the glass 17- Put the plastic knifes in the glass 18- Put the plastic knife in the glass 19- Put the plastic knife in the glass 20- Put the plastic knife in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the glass 2- Put the plastic knife in the glass 3- done\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 glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the plastic knife in the glass 6- Put the fork in the glass 7- Put the forks in the glass 8- Put the fork in the glass 9- Put the fork in the glass 10- Put the plastic spoon in the glass 11- Put the plastic knife in the glass 12- Put the plastic knife in the glass 13- Put the plastic knifes in the glass 14- Put the fork in the glass 15- Put the plastic knifes in the glass 16- Put the plastic knife in the glass 17- Put the plastic knifes in the glass 18- Put the plastic knife in the glass 19- Put the plastic knife in the glass 20- Put the plastic knife in the glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e","video":"1402440478305894624.mp4"}
+{"uid":"2422444720116421200","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass 14- Put the plastic knife in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knifes in the glass 2- Put the fork in the glass 3- Put the plastic knifes in the glass 4- Put the plastic knife in the glass 5- Put the plastic knifes in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass 14- Put the plastic knife in the glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knifes in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knifes in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knifes in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic knifes in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knifes in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the plastic knifes in the glass\n\u003c/PRED\u003e","video":"2773477327568076843.mp4"}
+{"uid":"5806188266902742420","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3963876979838504192.mp4"}
+{"uid":"17105166840031830476","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass 14- Put the plastic knife in the glass 15- Put the plastic knifes in the glass 16- Put the fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knifes in the glass 2- Put the plastic knife in the glass 3- Put the plastic knifes in the glass 4- Put the plastic knife in the glass 5- Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knifes in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knifes in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knifes in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the plastic knifes in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass 14- Put the plastic knife in the glass 15- Put the plastic knifes in the glass 16- Put the fork in the glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knifes in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic knifes 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":"9942301243023894975.mp4"}
+{"uid":"1456770470699085202","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1655907107002468013.mp4"}
+{"uid":"13187915785219556110","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":"10989192618763367215.mp4"}
+{"uid":"1037705064159277537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the bowl to 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":"15495730517059508244.mp4"}
+{"uid":"13577254583310559489","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e","video":"14484998430279837504.mp4"}
+{"uid":"16371571206020083334","text":"\u003ctask:success:discrete:True\u003e\nunstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"13628100601063331481.mp4"}
+{"uid":"15117092133904126034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7447687667179973364.mp4"}
+{"uid":"12756872973643569709","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic glasses 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":"16993245715973760321.mp4"}
+{"uid":"14306753739848000262","text":"\u003ctask:success:discrete:False\u003e\nPut the fork in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the plastic spoon in the glass 4- Put the plastic knife in the glass 5- Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e","video":"8112450339069697061.mp4"}
+{"uid":"15952776415314074026","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: place the bowl under the cereal dispenser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: 1- unstack the bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl under the cereal dispenser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl under the cereal dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl under the cereal dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 bowl under the cereal dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl under the cereal dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 bowl of cereal. last 20 steps: 1- unstack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl under the cereal dispenser 2- pour cereals in the bowl from the dispenser 3- place the bowl on the table 4- place the spoon in the bowl 5- done\n\u003c/PRED\u003e","video":"6322508930800665032.mp4"}
+{"uid":"18171784534715690456","text":"\u003ctask:success:discrete:False\u003e\npour cereals in the bowl from the dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 bowl of cereal. last 20 steps: 1- unstack the bowl 2- place the bowl under the cereal dispenser Q: immediate next step? \u003cPRED\u003eA: pour cereals in the bowl from the dispenser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: pour cereals in the bowl from the dispenser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour cereals in the bowl from the dispenser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour cereals in the bowl from the dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour cereals in the bowl from the dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 bowl of cereal. last 20 steps: 1- unstack the bowl 2- place the bowl under the cereal dispenser Q: next 5 steps? \u003cPRED\u003eA: 1- pour cereals in the bowl from the dispenser 2- place the bowl on the table 3- place the spoon in the bowl 4- done\n\u003c/PRED\u003e","video":"16424050807540959208.mp4"}
+{"uid":"14227511547472483258","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"706005842049332056.mp4"}
+{"uid":"14487834198939543196","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the glass 2- Put the forks in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the plastic spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the fork 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":"5747859243309834597.mp4"}
+{"uid":"2825961103180597254","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the plastic knife in the glass 4- Put the fork in the glass 5- Put the forks in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e","video":"16015410288782868225.mp4"}
+{"uid":"12229401282999251123","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the lemon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2827046315925609926.mp4"}
+{"uid":"5077481147961523590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"15192808767041120258.mp4"}
+{"uid":"1587736629264556427","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic knife in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass 14- Put the plastic knife in the glass 15- Put the plastic knifes in the glass 16- Put the fork in the glass 17- Put the plastic knifes in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the glass 2- Put the plastic knifes in the glass 3- Put the plastic knife in the glass 4- Put the plastic knife in the glass 5- Put the plastic knife in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- Put the fork in the glass 2- Put the fork in the glass 3- Put the fork in the glass 4- Put the fork in the glass 5- Put the fork in the glass 6- Put the fork in the glass 7- Put the plastic knife in the glass 8- Put the fork in the glass 9- Put the forks in the glass 10- Put the fork in the glass 11- Put the fork in the glass 12- Put the plastic spoon in the glass 13- Put the plastic knife in the glass 14- Put the plastic knife in the glass 15- Put the plastic knifes in the glass 16- Put the fork in the glass 17- Put the plastic knifes in the glass Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the glass\n\u003c/PRED\u003e","video":"292101737391790531.mp4"}
+{"uid":"18441996288251864057","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":"11174007292228120554.mp4"}
+{"uid":"17333796555633289517","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: 1- unstack the bowl 2- place the bowl under the cereal dispenser 3- pour cereals in the bowl from the dispenser Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cereal. last 20 steps: 1- unstack the bowl 2- place the bowl under the cereal dispenser 3- pour cereals in the bowl from the dispenser Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on the table 2- place the spoon in the bowl 3- done\n\u003c/PRED\u003e","video":"9333823272408996177.mp4"}
+{"uid":"1920910840945546414","text":"\u003ctask:success:discrete:False\u003e\nmove the jar to the right of 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: move the jar to the right of the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the jar to the right of the cup 2- open the lid 3- place the Scoop in the jar 4- Put the coffee beans in the cup 5- Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table Q: immediate next step? \u003cPRED\u003eA: move the jar to the right of the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the jar to the right of 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: move the jar to the right of the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff Q: immediate next step? \u003cPRED\u003eA: move the jar to the right of the cup\n\u003c/PRED\u003e","video":"15209677600673352185.mp4"}
+{"uid":"16975983023745240774","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tissue paper on the table 2- drop the spoon on a table 3- drop the orange on a table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace 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:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e","video":"9022700118160561475.mp4"}
+{"uid":"15971622779245173360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11267260826355705846.mp4"}
+{"uid":"1780980158585150704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15498622057752579695.mp4"}
+{"uid":"392950217003746302","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn off light switch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13265623274089481107.mp4"}
+{"uid":"686167720411012881","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white 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":"18226836368936957946.mp4"}
+{"uid":"13309571102608404112","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl 2- drop the tissue paper on a table 3- drop the spoon on a table Q: immediate next step? \u003cPRED\u003eA: drop the orange on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl 2- drop the tissue paper on a table 3- drop the spoon on a table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the tissue paper 2- done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl 2- drop the tissue paper on a table 3- drop the spoon on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange on a table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange 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:affordance:discriminative:discrete:True\u003e\ndrop the orange on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange 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\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the orange on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl 2- drop the tissue paper on a table 3- drop the spoon on a table Q: immediate next step? \u003cPRED\u003eA: Place the orange on the tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Place the orange on the tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange on a table\n\u003c/PRED\u003e","video":"10416844895782359179.mp4"}
+{"uid":"12584859896164473884","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic spoon 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic spoon 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl 2- drop the tissue paper on a table Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl 2- drop the tissue paper on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic spoon on the tissue paper 2- drop the orange on a table 3- done\n\u003c/PRED\u003e","video":"5974168613312503617.mp4"}
+{"uid":"1519659624159878854","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid 4- place the Scoop in the jar 5- Put the coffee beans in the cup 6- Put the coffee beans in the cup 7- Put the coffee beans in the cup 8- Put the coffee beans in the cup 9- place the scoop in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- close the lid 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid 4- place the Scoop in the jar 5- Put the coffee beans in the cup 6- Put the coffee beans in the cup 7- Put the coffee beans in the cup 8- Put the coffee beans in the cup 9- place the scoop in the holder Q: immediate next step? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6744659313376541495.mp4"}
+{"uid":"6443564812505647338","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a instant oatmeal pack on table from 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":"18119717838250970726.mp4"}
+{"uid":"75542956254695854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pens 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":"7600527230474882434.mp4"}
+{"uid":"9352670089154177250","text":"\u003ctask:success:discrete:True\u003e\nplace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e","video":"17161737101095981190.mp4"}
+{"uid":"17034716092968873980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick 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\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":"4425420795288272575.mp4"}
+{"uid":"1028729365047247857","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic bottle in 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":"13186584198105282373.mp4"}
+{"uid":"3996632536062955368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"17111460111134859566.mp4"}
+{"uid":"6446774992805877409","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the spoon on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the spoon on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the spoon on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the spoon on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl 2- drop the tissue paper on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the spoon on a table 2- drop the orange on a table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the spoon on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl 2- drop the tissue paper on a table Q: immediate next step? \u003cPRED\u003eA: drop the spoon on a table\n\u003c/PRED\u003e","video":"7224553079119170269.mp4"}
+{"uid":"3392763412620705734","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the coffee beans 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 get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid 4- place the Scoop in the jar 5- Put the coffee beans in the cup 6- Put the coffee beans in the cup 7- Put the coffee beans in the cup Q: immediate next step? \u003cPRED\u003eA: Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff Q: immediate next step? \u003cPRED\u003eA: Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid 4- place the Scoop in the jar 5- Put the coffee beans in the cup 6- Put the coffee beans in the cup 7- Put the coffee beans in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the coffee beans in the cup 2- place the scoop in the holder 3- close the lid 4- done\n\u003c/PRED\u003e","video":"4920110389566834473.mp4"}
+{"uid":"6460723086503306310","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid 4- place the Scoop in the jar 5- Put the coffee beans in the cup 6- Put the coffee beans in the cup 7- Put the coffee beans in the cup 8- Put the coffee beans in the cup 9- place the scoop in the holder 10- close the lid Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid 4- place the Scoop in the jar 5- Put the coffee beans in the cup 6- Put the coffee beans in the cup 7- Put the coffee beans in the cup 8- Put the coffee beans in the cup 9- place the scoop in the holder 10- close the lid Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1182281783419187392.mp4"}
+{"uid":"12458120085334320591","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white 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":"4169320518256630730.mp4"}
+{"uid":"5565473100661700672","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":"4138457573646281457.mp4"}
+{"uid":"17059284763594840292","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid 4- place the Scoop in the jar Q: immediate next step? \u003cPRED\u003eA: Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff Q: immediate next step? \u003cPRED\u003eA: Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the coffee beans 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 get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid 4- place the Scoop in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the coffee beans in the cup 2- Put the coffee beans in the cup 3- Put the coffee beans in the cup 4- Put the coffee beans in the cup 5- place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the coffee beans 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":"10760340698384020880.mp4"}
+{"uid":"722100972323935857","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid 4- place the Scoop in the jar 5- Put the coffee beans in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the coffee beans in the cup 2- Put the coffee beans in the cup 3- Put the coffee beans in the cup 4- place the scoop in the holder 5- close the lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the coffee beans 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 get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid 4- place the Scoop in the jar 5- Put the coffee beans in the cup Q: immediate next step? \u003cPRED\u003eA: Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff Q: immediate next step? \u003cPRED\u003eA: Put the coffee beans in the cup\n\u003c/PRED\u003e","video":"3158961813604538311.mp4"}
+{"uid":"17567367941401391496","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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 some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue paper on the table 2- drop the spoon on a table 3- drop the orange on a table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3020829816365310028.mp4"}
+{"uid":"689219874794420897","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl Q: immediate next step? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tissue paper on a table 2- drop the spoon on a table 3- drop the orange on a table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the tissue paper on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tissue paper on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e","video":"621605975130565602.mp4"}
+{"uid":"9474769025200686085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10455712336800598310.mp4"}
+{"uid":"8250473187724507544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knife 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":"6055557251724864423.mp4"}
+{"uid":"5749480145716941936","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid 4- place the Scoop in the jar 5- Put the coffee beans in the cup 6- Put the coffee beans in the cup Q: immediate next step? \u003cPRED\u003eA: Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the coffee beans 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 coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff Q: immediate next step? \u003cPRED\u003eA: Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid 4- place the Scoop in the jar 5- Put the coffee beans in the cup 6- Put the coffee beans in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the coffee beans in the cup 2- Put the coffee beans in the cup 3- place the scoop in the holder 4- close the lid 5- done\n\u003c/PRED\u003e","video":"5689234443575226050.mp4"}
+{"uid":"2469510633972178108","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff Q: immediate next step? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid 4- place the Scoop in the jar 5- Put the coffee beans in the cup 6- Put the coffee beans in the cup 7- Put the coffee beans in the cup 8- Put the coffee beans in the cup Q: immediate next step? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid 4- place the Scoop in the jar 5- Put the coffee beans in the cup 6- Put the coffee beans in the cup 7- Put the coffee beans in the cup 8- Put the coffee beans in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the scoop in the holder 2- close the lid 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the scoop 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":"14381522496428133733.mp4"}
+{"uid":"7445897236172389873","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl 2- drop the tissue paper on a table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoon on the tissue paper 2- drop the orange on a table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the spoon 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\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Place the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl 2- drop the tissue paper on a table Q: immediate next step? \u003cPRED\u003eA: Place the spoon on the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the spoon 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","video":"12379862755664914908.mp4"}
+{"uid":"9761696835018672888","text":"\u003ctask:success:discrete:False\u003e\nput the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl 2- drop the tissue paper on a table 3- drop the spoon on a table Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl 2- drop the tissue paper on a table 3- drop the spoon on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange on the table 2- done\n\u003c/PRED\u003e","video":"14542673201632488749.mp4"}
+{"uid":"11589134835608075774","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet in a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: drop the packet in a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the packet in a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in a cup 2- drop the tissue paper on a table 3- drop the spoon on a table 4- drop the orange on a table 5- done\n\u003c/PRED\u003e","video":"11312601787886669078.mp4"}
+{"uid":"14001008986057559714","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the crate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13908014822512843572.mp4"}
+{"uid":"10608810394472244615","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up keys Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9779143149565751272.mp4"}
+{"uid":"17022024717733449236","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff Q: immediate next step? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup Q: next 5 steps? \u003cPRED\u003eA: 1- open the lid 2- place the Scoop in the jar 3- Put the coffee beans in the cup 4- Put the coffee beans in the cup 5- Put the coffee beans in the cup\n\u003c/PRED\u003e","video":"811940053686981639.mp4"}
+{"uid":"16802411886863272947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6682991365337449929.mp4"}
+{"uid":"15308647094112372739","text":"\u003ctask:success:discrete:False\u003e\nplace the Scoop in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the Scoop in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid Q: immediate next step? \u003cPRED\u003eA: place the Scoop in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid Q: next 5 steps? \u003cPRED\u003eA: 1- place the Scoop in the jar 2- Put the coffee beans in the cup 3- Put the coffee beans in the cup 4- Put the coffee beans in the cup 5- Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the Scoop in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff Q: immediate next step? \u003cPRED\u003eA: place the Scoop in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the Scoop in the jar\n\u003c/PRED\u003e","video":"8679890373939958802.mp4"}
+{"uid":"12672607749276376499","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet in a 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: drop the packet in a cup\n\u003c/PRED\u003e","video":"15452039468945521195.mp4"}
+{"uid":"4337995993014686579","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5976520303519504559.mp4"}
+{"uid":"3403345403862577807","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the brown packet inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the brown packet inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10803814317073631809.mp4"}
+{"uid":"9010328436450753338","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4615995280223743935.mp4"}
+{"uid":"17296580473628768218","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":"11635243408467205546.mp4"}
+{"uid":"6391946255753459879","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put the packet in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the paper cup 2- drop the tissue paper on a table 3- drop the spoon on a table 4- drop the orange on a table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the packet in the paper cup\n\u003c/PRED\u003e","video":"13562943016059074842.mp4"}
+{"uid":"17206410877780866859","text":"\u003ctask:success:discrete:False\u003e\nplace 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 get me a bowl of cocoa puff. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup on the table 2- move the jar to the right of the cup 3- open the lid 4- place the Scoop in the jar 5- Put the coffee beans in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: please get me a bowl of cocoa puff Q: immediate next step? \u003cPRED\u003eA: place the cup 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 on the table\n\u003c/PRED\u003e","video":"6389706632290683677.mp4"}
+{"uid":"2552854013883402692","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown packet inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown packet inside the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown packet inside the bowl 2- drop the tissue paper on a table 3- drop the spoon on a table 4- drop the orange on a table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown packet inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the brown packet inside the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: Place the brown packet inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brown packet inside 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":"12965286421324557024.mp4"}
+{"uid":"2715592284575022507","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the tissue paper on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3261036124482820081.mp4"}
+{"uid":"8715117411981556095","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl 2- drop the tissue paper on a table 3- drop the spoon on a table 4- Place the orange on the tissue paper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the orange on the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange on the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- Place the brown packet inside the bowl 2- drop the tissue paper on a table 3- drop the spoon on a table 4- Place the orange on the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2830975465877939492.mp4"}
+{"uid":"10886748093405210136","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14131922677097133772.mp4"}
+{"uid":"15340199421236188131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12553958368500027455.mp4"}
+{"uid":"1796609601342415193","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6549748683756039851.mp4"}
+{"uid":"11273421921542996656","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"7327151893690467329.mp4"}
+{"uid":"12277888511160388600","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the top green house plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7524672147675964185.mp4"}
+{"uid":"5611813777246397117","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sticky notes into the glass container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"27826861905203225.mp4"}
+{"uid":"18255234384373739294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5401956171129765151.mp4"}
+{"uid":"6330251790686378971","text":"\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: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:planning:freeform\u003e\ncurrent goal is: take out all the fruits from 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 out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 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 out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- drop that orange on the table 3- pick up the orange from the bowl 4- leave that orange on the table 5- done\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":"785244495499359505.mp4"}
+{"uid":"3583610510086237263","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on table 2- pick up the orange from the bowl 3- leave that orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e","video":"18394271379476609235.mp4"}
+{"uid":"6253222939879881080","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":"12771151597403232862.mp4"}
+{"uid":"18333671251060725194","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":"15295013663491940160.mp4"}
+{"uid":"324042318005736160","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":"17766790202910786831.mp4"}
+{"uid":"18168256144911916976","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place that banana on the table 2- pick up the orange from the bowl 3- place that orange on the table 4- pick a yellow pear from the bowl 5- place that pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl Q: immediate next step? \u003cPRED\u003eA: place that banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that 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: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place that banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that banana on the table\n\u003c/PRED\u003e","video":"5885926186789848727.mp4"}
+{"uid":"10907768346668114695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the mouse 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":"6569913065815748479.mp4"}
+{"uid":"9477456506879128000","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the banana from 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: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table Q: immediate next step? \u003cPRED\u003eA: pick up the banana from the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the banana from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the banana from the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the banana from the bowl 2- leave the banana 3- pick up the pear 4- place that pear on the table 5- pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the banana from 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: pick up the banana from the bowl\n\u003c/PRED\u003e","video":"6732603267828955372.mp4"}
+{"uid":"12940713898877648912","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":"10275115283906097505.mp4"}
+{"uid":"3048638295214660495","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":"14103916887821959934.mp4"}
+{"uid":"17753940174666495828","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"262265606495038501.mp4"}
+{"uid":"9505389111515234063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the yellow 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":"7495096014443292789.mp4"}
+{"uid":"14177110639943856028","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":"5694074976341345370.mp4"}
+{"uid":"8353626175265564429","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place that orange on the table 2- pick a yellow pear from the bowl 3- place that pear on the table 4- pick up the orange from the bowl 5- place that orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl Q: immediate next step? \u003cPRED\u003eA: place that orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that 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: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place that orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that 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","video":"4260515682396143344.mp4"}
+{"uid":"17203940928232885398","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":"10527652522351972876.mp4"}
+{"uid":"5248218408741705181","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: leave that orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl 17- drop that orange on the table 18- pick up the orange from the bowl Q: immediate next step? \u003cPRED\u003eA: leave that orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave that orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl 17- drop that orange on the table 18- pick up the orange from the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- leave that orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave that 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:success:discrete:False\u003e\nleave that 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: leave that orange on the table\n\u003c/PRED\u003e","video":"12594032659456993360.mp4"}
+{"uid":"7641986290624577041","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl 17- drop that orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl 17- drop that orange on the table Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e","video":"394299763739651130.mp4"}
+{"uid":"11925668742851063153","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange from 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: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table Q: immediate next step? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange from the bowl 2- place that orange on the table 3- pick up the banana from the bowl 4- leave the banana 5- pick up the pear\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange from 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":"17813322973545325299.mp4"}
+{"uid":"16505956553621514938","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl Q: immediate next step? \u003cPRED\u003eA: drop that orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop that orange on the table 2- pick up the orange from the bowl 3- leave that orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop that 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop that orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop that 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:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: drop that orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop that orange on the table\n\u003c/PRED\u003e","video":"12650653397602159202.mp4"}
+{"uid":"11787335639092802520","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table Q: immediate next step? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on table 2- pick up the pear 3- place that pear on the table 4- pick up the orange from the bowl 5- drop that orange on the table\n\u003c/PRED\u003e","video":"14609973634858337930.mp4"}
+{"uid":"16810910879873879507","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl 17- drop that orange on the table 18- pick up the orange from the bowl 19- leave that orange on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl 17- drop that orange on the table 18- pick up the orange from the bowl 19- leave that orange 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: leave that orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nleave that 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","video":"10972838452613702269.mp4"}
+{"uid":"6417611632690945804","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that orange in the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place that orange in the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place that orange in the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that orange in 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 that orange in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place that orange in the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that orange in the table\n\u003c/PRED\u003e","video":"15230059301567986545.mp4"}
+{"uid":"6293592038142016510","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the wooden slab Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8558179322956021646.mp4"}
+{"uid":"1155107400692814098","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl 17- drop that orange on the table 18- put orange 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: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl 17- drop that orange on the table 18- put orange on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\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","video":"216508076111765564.mp4"}
+{"uid":"3160428276726033407","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange from 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: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table Q: immediate next step? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange from 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: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange from the bowl 2- drop that orange on the table 3- pick up the orange from the bowl 4- leave that orange on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e","video":"11401880846351521461.mp4"}
+{"uid":"2105328607683717249","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11686079487054826981.mp4"}
+{"uid":"938920370329015643","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl 17- drop that orange on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl 17- drop that orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- done\n\u003c/PRED\u003e","video":"13483891955022184612.mp4"}
+{"uid":"13586140705126830554","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":"3306974268436961716.mp4"}
+{"uid":"8746799422815883135","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":"3970574956426588859.mp4"}
+{"uid":"7017230715522841364","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange from the bowl 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange from 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: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange from 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: take out all the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e","video":"6019516427605107445.mp4"}
+{"uid":"4178905709794464700","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the banana from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the banana from 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: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table Q: immediate next step? \u003cPRED\u003eA: pick up the banana from the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the banana from 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: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the banana from the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the banana from the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the banana from the bowl 2- place that banana on the table 3- pick up the orange from the bowl 4- place that orange on the table 5- pick a yellow pear from the bowl\n\u003c/PRED\u003e","video":"18341776275510187455.mp4"}
+{"uid":"4249242973194636516","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl 17- drop that orange on the table 18- put orange on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl 17- drop that orange on the table 18- put orange on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e","video":"14698992183677362141.mp4"}
+{"uid":"10508494889001697024","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":"16563746355032347324.mp4"}
+{"uid":"11834852271543627966","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1437615812435270582.mp4"}
+{"uid":"11677249044051280197","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- pick up the orange from the bowl 3- leave that orange on the table 4- done\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: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear 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\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:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"12374416483139123612.mp4"}
+{"uid":"7632151663017979914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"12541295660727265609.mp4"}
+{"uid":"9996730066564132164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"17948646896984632369.mp4"}
+{"uid":"14830337965835853648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5872754265603207042.mp4"}
+{"uid":"8795880368976185416","text":"\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:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl 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\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"17535120960322304360.mp4"}
+{"uid":"1202478280400186776","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chair inside the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"468671246943693779.mp4"}
+{"uid":"17925029959509010266","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl Q: immediate next step? \u003cPRED\u003eA: place that banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place that banana on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the orange from the bowl 5- place that orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that 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: place that banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place that banana on the table\n\u003c/PRED\u003e","video":"9526345300858951305.mp4"}
+{"uid":"1709014624586724685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12112707857484710533.mp4"}
+{"uid":"18114517695961590486","text":"\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: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange 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: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- place that pear on the table 3- pick up the orange from the bowl 4- drop that orange on the table 5- pick up the orange from the bowl\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: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:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"9444424819325621588.mp4"}
+{"uid":"17018593222578637594","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e","video":"3512799109940794906.mp4"}
+{"uid":"3866545327849769498","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange cup on the cup 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":"13091298009621773030.mp4"}
+{"uid":"6827319724398233239","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana Q: immediate next step? \u003cPRED\u003eA: put pear on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on table 2- pick up the orange from the bowl 3- drop that orange on the table 4- pick up the orange from the bowl 5- leave that orange on the table\n\u003c/PRED\u003e","video":"15819360006706485205.mp4"}
+{"uid":"10742072413801874967","text":"\u003ctask:success:discrete:False\u003e\npick up the orange from 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: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange from 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: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl 17- drop that orange on the table Q: immediate next step? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear 15- place that pear on the table 16- pick up the orange from the bowl 17- drop that orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange from the bowl 2- leave that orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e","video":"11014526558284276691.mp4"}
+{"uid":"12290429369852495010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue kettle 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":"12539186927122873323.mp4"}
+{"uid":"1091653930532213729","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":"10549948929709810813.mp4"}
+{"uid":"6529099490358833785","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place that pear on the table 2- pick up the orange from the bowl 3- place that orange on the table 4- pick up the banana from the bowl 5- leave the banana\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that 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 all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl Q: immediate next step? \u003cPRED\u003eA: place that pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place that pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that 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":"9388287491134481973.mp4"}
+{"uid":"14468309505952257849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15592771274169883584.mp4"}
+{"uid":"7611072702161750211","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the pear\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pear Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pear 2- place that pear on the table 3- pick up the orange from the bowl 4- drop that orange on the table 5- pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana Q: immediate next step? \u003cPRED\u003eA: pick up the pear\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pear Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 pear\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pear\n\u003c/PRED\u003e","video":"17291496292171054628.mp4"}
+{"uid":"13101753722580293701","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":"3063044517883469899.mp4"}
+{"uid":"7551729329397170234","text":"\u003ctask:success:discrete:False\u003e\nput orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on table 2- pick up the banana from the bowl 3- leave the banana 4- pick up the pear 5- place that pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e","video":"5047671324714175056.mp4"}
+{"uid":"11842605262049811365","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table Q: immediate next step? \u003cPRED\u003eA: pick up the banana from the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the banana from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the banana from the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the banana from the bowl 2- place that banana on the table 3- pick up the banana from the bowl 4- place that banana on the table 5- pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the banana from 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: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the banana from the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the banana from 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":"16721192363888220595.mp4"}
+{"uid":"9300346073514381386","text":"\u003ctask:success:discrete:False\u003e\nput orange on 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 on bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on 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: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on bowl 2- pick a yellow pear from the bowl 3- place that pear on the table 4- pick up the orange from the bowl 5- place that orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table Q: immediate next step? \u003cPRED\u003eA: put orange on bowl\n\u003c/PRED\u003e","video":"14530229192626089118.mp4"}
+{"uid":"3317368769244078056","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that 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: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- pick up the orange from the bowl 3- place that orange on the table 4- pick a yellow pear from the bowl 5- place that pear 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all 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","video":"8536021589368803178.mp4"}
+{"uid":"178852626687951324","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the orange from the bowl 5- place that orange 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"12608308829760232341.mp4"}
+{"uid":"14370910539962328642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the right pen from the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2647852570564023968.mp4"}
+{"uid":"17339317676057124930","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":"5538286930184082986.mp4"}
+{"uid":"14863287041686249807","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table Q: immediate next step? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange from the bowl 2- place that orange on the table 3- pick a yellow pear from the bowl 4- place that pear on the table 5- pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange from 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\npick up the orange from 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":"14221059982520423806.mp4"}
+{"uid":"6591405664914423456","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick a yellow pear from the bowl 2- place that pear on the table 3- pick up the orange from the bowl 4- place that orange on the table 5- pick up the banana from the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a yellow pear from 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: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table Q: immediate next step? \u003cPRED\u003eA: pick a yellow pear from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a yellow pear from 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: pick a yellow pear from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a yellow pear from the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: pick a yellow pear from the bowl\n\u003c/PRED\u003e","video":"3925781927592718516.mp4"}
+{"uid":"1237060602910987071","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place that orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl Q: immediate next step? \u003cPRED\u003eA: place that orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place that orange on the table 2- pick up the banana from the bowl 3- leave the banana 4- pick up the pear 5- place that pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that 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\nplace that 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that orange on the table\n\u003c/PRED\u003e","video":"7445471176332410389.mp4"}
+{"uid":"12554720921942188465","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- leave the banana 3- pick up the pear 4- place that pear on the table 5- pick up the orange from the bowl\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl 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","video":"3844205347621354928.mp4"}
+{"uid":"14821945803994213297","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":"11041115932373639559.mp4"}
+{"uid":"7709922103830997167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the knifes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16766340091048743326.mp4"}
+{"uid":"6934215560783765742","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":"14243925227653476473.mp4"}
+{"uid":"13215465517825519955","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black pebble in the right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18180487635509082840.mp4"}
+{"uid":"7769469302324109487","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":"13193334567029084782.mp4"}
+{"uid":"6266876513718451287","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the orange from the bowl 5- place that orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e","video":"10413729878576741191.mp4"}
+{"uid":"2481450432596153760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7969968726686103024.mp4"}
+{"uid":"9909003709975356248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10362047991216840496.mp4"}
+{"uid":"6371960773528372761","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":"2673296530219400734.mp4"}
+{"uid":"13184317204826397780","text":"\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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- pick a yellow pear from the bowl 3- place that pear on the table 4- pick up the orange from the bowl 5- place that orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that 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: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"1025284545597885574.mp4"}
+{"uid":"11527039893363821963","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pillow on 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":"7222147031305225818.mp4"}
+{"uid":"2021266453885612591","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table Q: immediate next step? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on table 2- pick up the orange from the bowl 3- place that orange on the table 4- pick a yellow pear from the bowl 5- place that pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on table\n\u003c/PRED\u003e","video":"12914005516036634052.mp4"}
+{"uid":"6944307845798887816","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave the banana\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave the banana Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- leave the banana 2- pick up the pear 3- place that pear on the table 4- pick up the orange from the bowl 5- drop that orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl Q: immediate next step? \u003cPRED\u003eA: leave the banana\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the banana\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: leave the banana\n\u003c/PRED\u003e","video":"17794018855311661534.mp4"}
+{"uid":"2853532950682407979","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on table 2- pick up the orange from the bowl 3- place that orange on the table 4- pick up the banana from the bowl 5- leave the banana\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table Q: immediate next step? \u003cPRED\u003eA: put pear on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on table\n\u003c/PRED\u003e","video":"1391882659809815532.mp4"}
+{"uid":"1319964480719839698","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear Q: next 5 steps? \u003cPRED\u003eA: 1- place that pear on the table 2- pick up the orange from the bowl 3- drop that orange on the table 4- pick up the orange from the bowl 5- leave that orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table 8- pick a yellow pear from the bowl 9- place that pear on the table 10- pick up the orange from the bowl 11- place that orange on the table 12- pick up the banana from the bowl 13- leave the banana 14- pick up the pear Q: immediate next step? \u003cPRED\u003eA: place that pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place that pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that 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:discriminative:discrete:True\u003e\nplace that 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":"15575316306353832350.mp4"}
+{"uid":"8182975554460456329","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":"15667463021968047788.mp4"}
+{"uid":"4476056402122888289","text":"\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:generative:positive:freeform\u003e\nQ: what action is possible right now? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- pick up the orange from the bowl 3- place that orange on the table 4- pick up the banana from the bowl 5- leave the banana\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put orange on the table 2- pick up the banana from the bowl 3- place that banana on the table 4- pick up the banana from the bowl 5- place that banana on the table 6- pick up the orange from the bowl 7- place that orange 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 out all the fruits from the bowl 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","video":"2187287318497419639.mp4"}
+{"uid":"13294019415577913519","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":"13737224801485052986.mp4"}
+{"uid":"6109542725705811114","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 the chocolate into the brown 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate into the brown bowl 2- pick up the candy 3- leave that candy in the red bowl 4- pick up the candy 5- leave that 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 the chocolate into the brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the chocolate into 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 the chocolate into 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: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate into the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate into the brown bowl\n\u003c/PRED\u003e","video":"6090504767413681668.mp4"}
+{"uid":"7854663002658698978","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13429998901311070090.mp4"}
+{"uid":"5583264647318010621","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":"6793076792302223094.mp4"}
+{"uid":"819915927087801068","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bowl on tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bowl on 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: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl 17- pull the napkin 18- place that napkin on the table Q: immediate next step? \u003cPRED\u003eA: put the bowl on tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bowl on tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bowl on 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl 17- pull the napkin 18- place that napkin on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the bowl on tissue paper 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 the bowl on tissue paper\n\u003c/PRED\u003e","video":"3052909600086959622.mp4"}
+{"uid":"14574617717645455594","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the left blue  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":"8060733752388083188.mp4"}
+{"uid":"7667857944061187567","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the robots away into the basket. last 20 steps: 1- Put the basket on the table 2- Put the robotic toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the robotic toy in the basket 2- Put the robotic clock in the basket 3- Put the basket in the shelf 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the robots away into the basket Q: immediate next step? \u003cPRED\u003eA: Put the robotic toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the robotic toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the robotic toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the robotic toy 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: Put the robots away into the basket. last 20 steps: 1- Put the basket on the table 2- Put the robotic toy in the basket Q: immediate next step? \u003cPRED\u003eA: Put the robotic toy in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the robotic toy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"492455571634579219.mp4"}
+{"uid":"3513622670063410139","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the basket in the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the robots away into the basket. last 20 steps: 1- Put the basket on the table 2- Put the robotic toy in the basket 3- Put the robotic toy in the basket 4- Put the robotic clock in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the basket in the shelf 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the robots away into the basket. last 20 steps: 1- Put the basket on the table 2- Put the robotic toy in the basket 3- Put the robotic toy in the basket 4- Put the robotic clock in the basket Q: immediate next step? \u003cPRED\u003eA: Put the basket in the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the robots away into the basket Q: immediate next step? \u003cPRED\u003eA: Put the basket in the shelf\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the basket in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the basket in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the basket in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"979711419592398034.mp4"}
+{"uid":"8958600004531077355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the plastic spoons on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3983330823707504312.mp4"}
+{"uid":"7119218955927164643","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: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: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the bowl 2- pick up the candy 3- place the candy in the bowl 4- pull the napkin 5- place that napkin 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red 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","video":"6856967756707307861.mp4"}
+{"uid":"9071273879558530","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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy Q: immediate next step? \u003cPRED\u003eA: leave that candy in the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave that 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: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy Q: next 5 steps? \u003cPRED\u003eA: 1- leave that candy in the red bowl 2- pick up the candy 3- leave that candy in the red bowl 4- pick up the candy 5- leave that 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: leave that candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave that 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: leave that candy in the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave that candy in the red bowl\n\u003c/PRED\u003e","video":"9472829646012662548.mp4"}
+{"uid":"16278680687681189809","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the basket on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the basket 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":"10548823553011305193.mp4"}
+{"uid":"6818032353566850683","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":"8698849023263989748.mp4"}
+{"uid":"6739092648237308759","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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the candy\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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: pick up the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the candy\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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the candy 2- leave that candy in the red bowl 3- pick up the candy 4- leave that candy in the red bowl 5- pick up the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the candy\n\u003c/PRED\u003e","video":"15685325231942946565.mp4"}
+{"uid":"11626394674681997977","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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl Q: immediate next step? \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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the bowl 2- pull the napkin 3- place that napkin on the table 4- pick up the red bowl 5- place that red bowl on the napkin\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: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: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: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","video":"11406782519114020494.mp4"}
+{"uid":"12292142254107684654","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":"12509325662592947057.mp4"}
+{"uid":"14760954605102100453","text":"\u003ctask:success:discrete:True\u003e\nput the banana into 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana into the white bowl\n\u003c/PRED\u003e","video":"6030215535372949024.mp4"}
+{"uid":"1794972981269887273","text":"\u003ctask:success:discrete:False\u003e\nPut the robotic toy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the robots away into the basket. last 20 steps: 1- Put the basket on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the robotic toy in the basket 2- Put the robotic toy in the basket 3- Put the robotic clock in the basket 4- Put the basket in the shelf 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the robotic toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the robotic toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the robotic toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the robots away into the basket Q: immediate next step? \u003cPRED\u003eA: Put the robotic toy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the robots away into the basket. last 20 steps: 1- Put the basket on the table Q: immediate next step? \u003cPRED\u003eA: Put the robotic toy in the basket\n\u003c/PRED\u003e","video":"4282779788898223325.mp4"}
+{"uid":"1977942542274945411","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange\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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 orange Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: pick up the orange\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: pick up the orange\n\u003c/PRED\u003e","video":"13224140902869796171.mp4"}
+{"uid":"6321303855199774025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"5752469382783193176.mp4"}
+{"uid":"7190717599373929050","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Keep the holder in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Keep the holder in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nKeep the holder in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder 7- Keep the holder in the cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13617046086836280322.mp4"}
+{"uid":"10993703007535128050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"3860066315006983799.mp4"}
+{"uid":"6825781639797774847","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":"14374797914946389244.mp4"}
+{"uid":"2100768105739911327","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the robotic clock in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the robotic clock in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11347485986189717610.mp4"}
+{"uid":"1329633235446314833","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange 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 orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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 the orange in the bowl 2- pick up the orange 3- place that orange in the bowl 4- pick up the banana 5- leave the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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: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 bowl\n\u003c/PRED\u003e","video":"6076583522809835949.mp4"}
+{"uid":"15838451770285288333","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10817968276014069369.mp4"}
+{"uid":"5190651156190281526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green 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":"16740165488551552191.mp4"}
+{"uid":"12531182571165637278","text":"\u003ctask:success:discrete:False\u003e\npick up the banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 banana Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 banana\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: pick up the banana\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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the banana 2- leave the banana in the bowl 3- pick up the candy 4- leave that candy in the red bowl 5- pick up the candy\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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the banana\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the banana\n\u003c/PRED\u003e","video":"15546462507498718458.mp4"}
+{"uid":"1779681845304886686","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistas in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7107970314685219076.mp4"}
+{"uid":"18040806476638380581","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":"8071191784677440724.mp4"}
+{"uid":"16610014374098951812","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate into the brown 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 brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate into 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: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate into the brown 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate into the brown bowl 2- pick up the candy 3- place the candy in the bowl 4- pull the napkin 5- place that napkin 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 chocolate into the brown bowl\n\u003c/PRED\u003e","video":"14654694779908748914.mp4"}
+{"uid":"15451952742616440272","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"2167986384693517931.mp4"}
+{"uid":"5739466905122575384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut white packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6801504433250688295.mp4"}
+{"uid":"5779579094990630148","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Keep the holder in the cart 5- done\n\u003c/PRED\u003e","video":"14663324878461405903.mp4"}
+{"uid":"16120918149757239168","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":"8065818047407142091.mp4"}
+{"uid":"8569736183168923723","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npull the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl Q: immediate next step? \u003cPRED\u003eA: pull the napkin\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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pull the napkin 2- place that napkin on the table 3- pick up the red bowl 4- place that red bowl on the napkin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the napkin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the napkin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: pull the napkin\n\u003c/PRED\u003e","video":"9230893242718487775.mp4"}
+{"uid":"1675096385204916933","text":"\u003ctask:success:discrete:True\u003e\nPut the robotic toy 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 robotic toy in the basket\n\u003c/PRED\u003e","video":"3059533790719930393.mp4"}
+{"uid":"12603497059244384113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the small plate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3612400114387189929.mp4"}
+{"uid":"8629016670545056698","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the candy 2- place the candy in the bowl 3- pull the napkin 4- place that napkin on the table 5- pick up 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: pick up the candy\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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: pick up the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the candy\n\u003c/PRED\u003e","video":"15968463313024760195.mp4"}
+{"uid":"11819421279531270339","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":"11821118366212594433.mp4"}
+{"uid":"5962487727949735456","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":"12792646200067420211.mp4"}
+{"uid":"647981729179809064","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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl 17- pull the napkin 18- place that napkin on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the red bowl 2- place that red bowl on the napkin 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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: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: pick up the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl 17- pull the napkin 18- place that napkin on the table Q: immediate next step? \u003cPRED\u003eA: pick up the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the red bowl\n\u003c/PRED\u003e","video":"16657900675053808597.mp4"}
+{"uid":"5664859660483591544","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":"12907424886569871667.mp4"}
+{"uid":"13424820419930374664","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that 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: 1- pick up the orange 2- place that orange in the bowl 3- pick up the orange Q: next 5 steps? \u003cPRED\u003eA: 1- place that orange in the bowl 2- pick up the banana 3- leave the banana in the bowl 4- pick up the candy 5- leave that candy in the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that 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: 1- pick up the orange 2- place that orange in the bowl 3- pick up the orange Q: immediate next step? \u003cPRED\u003eA: place that orange 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: place that orange in the bowl\n\u003c/PRED\u003e","video":"9894944756491540809.mp4"}
+{"uid":"8461221474755598932","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":"7435200113986518371.mp4"}
+{"uid":"4407594322722638237","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14865432446505967244.mp4"}
+{"uid":"14626912527301018192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper glass in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8661586074664104158.mp4"}
+{"uid":"13536375915914586466","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 the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into 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 into the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange into 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 into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into 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 the orange into the white bowl 2- pick up the orange 3- place that orange in the bowl 4- pick up the banana 5- leave the banana in the bowl\n\u003c/PRED\u003e","video":"5089934168002107468.mp4"}
+{"uid":"5817847552334820922","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Keep the holder in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"15434269006925644468.mp4"}
+{"uid":"15998839519857952033","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 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: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the bowl 2- pick up the candy 3- leave that candy in the red bowl 4- pick up the candy 5- leave that candy in the red 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","video":"10524171199394361092.mp4"}
+{"uid":"3403714366495106220","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up 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":"11580786872439741788.mp4"}
+{"uid":"9770840191079913414","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange\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- pick up the orange 2- place that orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange 2- place that orange in the bowl 3- pick up the banana 4- leave the banana in the bowl 5- pick up the candy\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- pick up the orange 2- place that orange in the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the orange\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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: pick up the orange\n\u003c/PRED\u003e","video":"4646553323767943429.mp4"}
+{"uid":"17566455665825741471","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that red bowl on the napkin\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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl 17- pull the napkin 18- place that napkin on the table 19- pick up the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place that red bowl on the napkin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that red bowl on the napkin\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: place that red bowl on the napkin\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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl 17- pull the napkin 18- place that napkin on the table 19- pick up the red bowl Q: immediate next step? \u003cPRED\u003eA: place that red bowl on the napkin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that red bowl on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that red bowl on the napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10576509795847323112.mp4"}
+{"uid":"12774124953476718604","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nKeep the holder in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Keep the holder in the cart 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Keep the holder in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nKeep the holder in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Keep the holder in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: Keep the holder in the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder 6- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Keep the holder in the cart\n\u003c/PRED\u003e","video":"11789982745804430116.mp4"}
+{"uid":"12070881779488176365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the scrub packet 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":"1458088295542993229.mp4"}
+{"uid":"13517907723107893853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the can straight 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":"9254221289191628920.mp4"}
+{"uid":"6345179822503059882","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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate into the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate into the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate into 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:success:discrete:False\u003e\nput the chocolate into 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: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 chocolate into the brown 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 brown 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate into the brown bowl 2- place that napkin on the table 3- pick up the red bowl 4- place that red bowl on the napkin 5- done\n\u003c/PRED\u003e","video":"2063255668128935771.mp4"}
+{"uid":"12153901370063753673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3353112805003874075.mp4"}
+{"uid":"3922560520638496973","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: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: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the bowl 2- pick up the candy 3- leave that candy in the red bowl 4- pick up the candy 5- place the candy 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e","video":"7724786580651497150.mp4"}
+{"uid":"3051993576044863317","text":"\u003ctask:success:discrete:False\u003e\nleave the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana Q: next 5 steps? \u003cPRED\u003eA: 1- leave the banana in the bowl 2- pick up the candy 3- leave that candy in the red bowl 4- pick up the candy 5- leave that 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: leave the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave the 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana Q: immediate next step? \u003cPRED\u003eA: leave the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15699376894457217376.mp4"}
+{"uid":"7524562811117573477","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 7up 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":"5782805691366916118.mp4"}
+{"uid":"11732631141412909150","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the orange 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":"1595709110852129874.mp4"}
+{"uid":"12642972465262676197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the 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":"2617266668360315491.mp4"}
+{"uid":"3359937320035299781","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy Q: immediate next step? \u003cPRED\u003eA: place the candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy in the bowl 2- pull the napkin 3- place that napkin on the table 4- pick up the red bowl 5- place that red bowl on the napkin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 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: place the candy in the bowl\n\u003c/PRED\u003e","video":"5022661812769005917.mp4"}
+{"uid":"852175972502380069","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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy Q: next 5 steps? \u003cPRED\u003eA: 1- leave that candy in the red bowl 2- pick up the candy 3- leave that candy in the red bowl 4- pick up the candy 5- place the candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave that 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy Q: immediate next step? \u003cPRED\u003eA: leave that candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave that 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: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: leave that candy in the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave that candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave that candy in the red bowl\n\u003c/PRED\u003e","video":"17246184866998673044.mp4"}
+{"uid":"2539610678570239232","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17299464708938702201.mp4"}
+{"uid":"8071109900140497103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow candy in left side 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":"2421036349333827869.mp4"}
+{"uid":"8599594904408707955","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: place that napkin on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that napkin on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl 17- pull the napkin Q: next 5 steps? \u003cPRED\u003eA: 1- place that napkin on the table 2- pick up the red bowl 3- place that red bowl on the napkin 4- 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl 17- pull the napkin Q: immediate next step? \u003cPRED\u003eA: place that napkin on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that napkin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that napkin on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that napkin on the table\n\u003c/PRED\u003e","video":"4460785113884277461.mp4"}
+{"uid":"17506590137459273979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13047011369175576242.mp4"}
+{"uid":"14228260714816512948","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the big 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":"371633506344228167.mp4"}
+{"uid":"5560726196388808188","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nleave that 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:success:discrete:False\u003e\nleave that 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: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy Q: next 5 steps? \u003cPRED\u003eA: 1- leave that candy in the red bowl 2- pick up the candy 3- place the candy in the bowl 4- pull the napkin 5- place that napkin on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave that 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: leave that 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy Q: immediate next step? \u003cPRED\u003eA: leave that candy in the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave that candy in the red bowl\n\u003c/PRED\u003e","video":"13232195194645889205.mp4"}
+{"uid":"7941669982172079917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper glass into the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3540405819426620127.mp4"}
+{"uid":"15665875693533506084","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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the candy 2- leave that candy in the red bowl 3- pick up the candy 4- leave that candy in the red bowl 5- pick up the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the candy\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: pick up the candy\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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: pick up the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the candy\n\u003c/PRED\u003e","video":"11088318715836671057.mp4"}
+{"uid":"5982282945312272696","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":"10510142355175890553.mp4"}
+{"uid":"4100603243251189954","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":"7692241271707203256.mp4"}
+{"uid":"12512860793576730063","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange into 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":"3136132916413110362.mp4"}
+{"uid":"18206549963663660230","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green 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":"8636572226934721428.mp4"}
+{"uid":"12686841447889071102","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":"11641706624699144396.mp4"}
+{"uid":"9658205449316009896","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4431405323979814570.mp4"}
+{"uid":"7996084546591786936","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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy Q: next 5 steps? \u003cPRED\u003eA: 1- leave that candy in the red bowl 2- pick up the candy 3- leave that candy in the red bowl 4- pick up the candy 5- leave that candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave that candy in the red bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave that 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: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: leave that candy in the red bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave that 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave that 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy Q: immediate next step? \u003cPRED\u003eA: leave that candy in the red bowl\n\u003c/PRED\u003e","video":"5650264337954778738.mp4"}
+{"uid":"6541243547614235316","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away 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":"11184078467029527675.mp4"}
+{"uid":"15505067363434208377","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the holder 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":"13075546228201347052.mp4"}
+{"uid":"17888911589915144547","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into 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- pick up the orange 2- place that orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into 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- pick up the orange 2- place that orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the white bowl 2- pick up the banana 3- leave the banana in the bowl 4- pick up the candy 5- leave that 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 the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e","video":"9473445072689443953.mp4"}
+{"uid":"3728797289676128299","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the candy\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: pick up the candy\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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: pick up the candy\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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the candy 2- leave that candy in the red bowl 3- pick up the candy 4- place the candy in the bowl 5- pull the napkin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11076117432378977555.mp4"}
+{"uid":"6563741411429533555","text":"\u003ctask:success:discrete:True\u003e\nPut the robotic toy 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 robotic toy in the basket\n\u003c/PRED\u003e","video":"10334358658585810756.mp4"}
+{"uid":"12734534443956659796","text":"\u003ctask:success:discrete:False\u003e\nPut the holder 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 grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: Put the holder on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the holder on the table\n\u003c/PRED\u003e","video":"768065645178346153.mp4"}
+{"uid":"14157563278533352958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17658768594299486874.mp4"}
+{"uid":"857069452189614933","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the notepad 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":"13242730697789657605.mp4"}
+{"uid":"1821270767372737177","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange 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 orange 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 in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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: 1- pick up the orange 2- place that orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- pick up the banana 3- leave the banana in the bowl 4- pick up the candy 5- leave that 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- pick up the orange 2- place that orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"2217919447300948643.mp4"}
+{"uid":"5621293039909972956","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: place the paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl Q: immediate next step? \u003cPRED\u003eA: place the paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper on the table 2- pick up the red bowl 3- place that red bowl on the napkin 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3874361426058728008.mp4"}
+{"uid":"14737591601409290863","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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl 17- pull the napkin 18- place that napkin on the table Q: immediate next step? \u003cPRED\u003eA: place the red bowl on the paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bowl on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red bowl on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red bowl on the 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: place the red bowl on the 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl 17- pull the napkin 18- place that napkin on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bowl on the paper 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bowl on the paper\n\u003c/PRED\u003e","video":"8658977019466020618.mp4"}
+{"uid":"9117998192866420309","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chocolate into the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate into 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 the chocolate into the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate into 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate into the brown 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate into the brown bowl 2- leave that candy in the red bowl 3- pick up the candy 4- leave that candy in the red bowl 5- pick up the candy\n\u003c/PRED\u003e","video":"1788878781968022340.mp4"}
+{"uid":"15727286837784654257","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the golden 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":"5699838253842098037.mp4"}
+{"uid":"14299255237479465891","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the robots away into the basket Q: immediate next step? \u003cPRED\u003eA: Put the robotic clock in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the robotic clock in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the robotic clock 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 robotic clock in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the robots away into the basket. last 20 steps: 1- Put the basket on the table 2- Put the robotic toy in the basket 3- Put the robotic toy in the basket Q: immediate next step? \u003cPRED\u003eA: Put the robotic clock in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the robots away into the basket. last 20 steps: 1- Put the basket on the table 2- Put the robotic toy in the basket 3- Put the robotic toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the robotic clock in the basket 2- Put the basket in the shelf 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the robotic clock in the basket\n\u003c/PRED\u003e","video":"12541993636755697459.mp4"}
+{"uid":"6601769806529515507","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the candy\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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: pick up the candy\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: pick up the candy\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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the candy 2- leave that candy in the red bowl 3- pick up the candy 4- leave that candy in the red bowl 5- pick up the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15274373121435530825.mp4"}
+{"uid":"7515359780836295106","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Keep the holder in the cart 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"4479177983593961207.mp4"}
+{"uid":"718494530154341540","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":"146895943185616407.mp4"}
+{"uid":"17593323827916755665","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paperclip 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":"10300166209171015282.mp4"}
+{"uid":"4972450060083810546","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper 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":"6368627107691891463.mp4"}
+{"uid":"6944452974911628806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the brown belt into the white cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7888885690019498724.mp4"}
+{"uid":"7674138241233736072","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 the 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana in the bowl 2- pick up the candy 3- leave that candy in the red bowl 4- pick up the candy 5- leave that candy in the red bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana in the bowl\n\u003c/PRED\u003e","video":"8077104665110581868.mp4"}
+{"uid":"16867412054713068851","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the top left 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":"6349636598603948733.mp4"}
+{"uid":"10796078982354386296","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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate into the brown bowl 2- leave that candy in the red bowl 3- pick up the candy 4- place the candy in the bowl 5- pull the napkin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chocolate into the brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate into 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 chocolate into the brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate into 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: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl Q: immediate next step? \u003cPRED\u003eA: put the chocolate into the brown bowl\n\u003c/PRED\u003e","video":"3929505422395200322.mp4"}
+{"uid":"9171494037667717500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17966944191685213945.mp4"}
+{"uid":"1650541913477138233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"2030821449701526531.mp4"}
+{"uid":"18292765788066303625","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: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the bowl 2- pick up the candy 3- leave that candy in the red bowl 4- pick up the candy 5- leave that candy in the red 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: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: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e","video":"18319664052743847658.mp4"}
+{"uid":"10926362300781642019","text":"\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: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\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: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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl Q: immediate next step? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl 5- pick up the banana 6- leave the banana in the bowl 7- pick up the candy 8- leave that candy in the red bowl 9- pick up the candy 10- leave that candy in the red bowl 11- pick up the candy 12- leave that candy in the red bowl 13- pick up the candy 14- leave that candy in the red bowl 15- pick up the candy 16- place the candy in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue paper on the table 2- pick up the red bowl 3- place that red bowl on the napkin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue paper on the table\n\u003c/PRED\u003e","video":"3093097469138158804.mp4"}
+{"uid":"13775207734395000938","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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana into the white bowl 2- pick up the candy 3- leave that candy in the red bowl 4- pick up the candy 5- leave that 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- pick up the orange 2- place that orange in the bowl 3- pick up the orange 4- place that orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana into 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:success:discrete:False\u003e\nput the banana into 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: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 banana into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana into the white bowl\n\u003c/PRED\u003e","video":"15027292749292323522.mp4"}
+{"uid":"12285715458591958288","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- Put the holder on the table 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Keep the holder in the cart 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e","video":"3434631018397988252.mp4"}
+{"uid":"4351816504611763891","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the basket in the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the basket in the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the robots away into the basket. last 20 steps: 1- Put the basket on the table 2- Put the robotic toy in the basket 3- Put the robotic toy in the basket 4- Put the robotic clock in the basket 5- Put the basket in the shelf Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the robots away into the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the robots away into the basket. last 20 steps: 1- Put the basket on the table 2- Put the robotic toy in the basket 3- Put the robotic toy in the basket 4- Put the robotic clock in the basket 5- Put the basket in the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15075363045037739236.mp4"}
+{"uid":"4853039985007543561","text":"\u003ctask:success:discrete:False\u003e\nPut the basket 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: Put the robots away into the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the basket on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the robots away into the basket Q: immediate next step? \u003cPRED\u003eA: Put the basket on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the robots away into the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the basket on the table 2- Put the robotic toy in the basket 3- Put the robotic toy in the basket 4- Put the robotic clock in the basket 5- Put the basket in the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the basket on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the basket on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the basket 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":"16086482195537992485.mp4"}
+{"uid":"1433446464682057836","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- Put the holder on the table Q: immediate next step? \u003cPRED\u003eA: Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- Put the holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the holder 2- Put the pen in the holder 3- Put the pen in the holder 4- Put the pen in the holder 5- Put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15151260300586377566.mp4"}
+{"uid":"4848438225231968709","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- pick up the orange Q: immediate next step? \u003cPRED\u003eA: place that orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that 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: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- pick up the orange Q: next 5 steps? \u003cPRED\u003eA: 1- place that orange in the bowl 2- pick up the orange 3- place that orange in the bowl 4- pick up the banana 5- leave the banana 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: place that orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that 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","video":"17159016235802084378.mp4"}
+{"uid":"16358905323454648814","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":"14944215281998635795.mp4"}
+{"uid":"5086106227421617980","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":"14383150347313812977.mp4"}
+{"uid":"12661919762097625546","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the rold gold packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the rold gold packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11339755982253360213.mp4"}
+{"uid":"16223396547575867569","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the rxbar blueberry inside the small 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":"11367299817101445791.mp4"}
+{"uid":"7017047519819180809","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tape into the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tape into 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:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the tape into the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the tape into 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable 11- pick the black cable wire 12- drop the black cable wire in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tape into the bin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable 11- pick the black cable wire 12- drop the black cable wire in the recycle bin Q: immediate next step? \u003cPRED\u003eA: drop the tape into the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tape into the bin\n\u003c/PRED\u003e","video":"13543999778001031930.mp4"}
+{"uid":"14037428722116729524","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin Q: immediate next step? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brown packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown packet 2- pick the rold gold packet 3- drop the rold gold packet in the recycle bin 4- go close to the black cable 5- pick the black cable wire\n\u003c/PRED\u003e","video":"12091619343568203844.mp4"}
+{"uid":"16893368822491866413","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"3261861079364849603.mp4"}
+{"uid":"14080026676993242098","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black cable wire\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black cable wire 2- drop the tape into the bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black cable wire Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the black cable wire\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black cable wire\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable Q: immediate next step? \u003cPRED\u003eA: pick the black cable wire\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black cable wire Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2088164108404922375.mp4"}
+{"uid":"6663237401639426671","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":"9680120017826315310.mp4"}
+{"uid":"14306186508240639954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange a 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":"7161653713283678222.mp4"}
+{"uid":"11034665207001925805","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable Q: immediate next step? \u003cPRED\u003eA: put the black cable in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black cable in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black cable in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: put the black cable in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable Q: next 5 steps? \u003cPRED\u003eA: 1- put the black cable in the recycle bin 2- drop the tape into 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 black cable in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black cable in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16922068496934212189.mp4"}
+{"uid":"588062298179684405","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the orange snack 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":"3220278989657510635.mp4"}
+{"uid":"4716328327865102788","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black cable wire in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black cable wire in the recycle bin 2- drop the tape into the bin 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the black cable wire in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black cable wire in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable Q: immediate next step? \u003cPRED\u003eA: drop the black cable wire in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black cable wire in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black cable wire in the recycle bin\n\u003c/PRED\u003e","video":"5707876783740462977.mp4"}
+{"uid":"12495570505937763206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10018066387426790751.mp4"}
+{"uid":"1126252847958854505","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the tissue box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin Q: immediate next step? \u003cPRED\u003eA: pick the tissue box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the tissue 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: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the tissue box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick the tissue box 2- release the tissue box into the bin 3- pick the brown packet 4- drop the brown packet in the recycle bin 5- pick the rold gold packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the tissue 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: pick the tissue box\n\u003c/PRED\u003e","video":"16148666947660253254.mp4"}
+{"uid":"5504954192154596431","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown packet into the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the brown packet into 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":"9332368602742231127.mp4"}
+{"uid":"3132005288435891137","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":"4739342123360879715.mp4"}
+{"uid":"115372069450044096","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the tissue box from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the tissue box from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick the tissue box from the floor 2- pick the brown packet 3- drop the brown packet in the recycle bin 4- pick the rold gold packet 5- drop the rold gold packet in the recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin Q: immediate next step? \u003cPRED\u003eA: pick the tissue box from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the tissue box from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the tissue box from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the tissue box from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13802428365804532780.mp4"}
+{"uid":"8194045423699287669","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange cable in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange cable in the recycle bin 2- pick the tissue box 3- release the tissue box into the bin 4- pick the brown packet 5- drop the brown packet in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange cable in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: put the orange cable in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange cable in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: put the orange cable in the recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange cable in the recycle bin\n\u003c/PRED\u003e","video":"7121151219041041832.mp4"}
+{"uid":"2997777765973195484","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngo close to the black cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go close to the black cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- go close to the black cable 2- pick the black cable wire 3- drop the black cable wire in the recycle bin 4- drop the tape into the bin 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go close to the black cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin Q: immediate next step? \u003cPRED\u003eA: go close to the black cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo close to the black cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: go close to the black cable\n\u003c/PRED\u003e","video":"12694654223756941279.mp4"}
+{"uid":"10103748389524932951","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue 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":"16987650560659138164.mp4"}
+{"uid":"3773353538680725206","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8997803456338333499.mp4"}
+{"uid":"16679019872157749123","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":"13632389736360158712.mp4"}
+{"uid":"3718519449050160054","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tape in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: put the tape in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable 11- pick the black cable wire 12- drop the black cable wire in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the tape in the recycle bin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tape in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tape in the recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable 11- pick the black cable wire 12- drop the black cable wire in the recycle bin Q: immediate next step? \u003cPRED\u003eA: put the tape in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tape in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"375315881966506706.mp4"}
+{"uid":"11569965233824375183","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange cable wire\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the orange cable wire\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange cable wire Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange cable wire 2- pick the tissue box 3- release the tissue box into the bin 4- pick the brown packet 5- drop the brown packet in the recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange cable wire\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the orange cable wire\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange cable wire Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12126827862632298935.mp4"}
+{"uid":"8050469551581809368","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the tissue box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the tissue 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":"1959091437804378480.mp4"}
+{"uid":"4197527495033937438","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tissue box in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the tissue box in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2696935300563730007.mp4"}
+{"uid":"3328609371395528034","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable 11- pick the black cable wire Q: immediate next step? \u003cPRED\u003eA: release the black cable into the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: release the black cable into the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable 11- pick the black cable wire Q: next 5 steps? \u003cPRED\u003eA: 1- release the black cable into the bin 2- drop the tape into the bin 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the black cable into the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the black cable into the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the black cable into 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:success:discrete:False\u003e\nrelease the black cable into 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":"875266848646747800.mp4"}
+{"uid":"3931682816523648562","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the bowl 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":"13110363352862915384.mp4"}
+{"uid":"3141956621975428754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the envelope in the left of the transparent tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1927772708289863509.mp4"}
+{"uid":"4172434711590043385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple on the table on the left corner of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3456964818278031143.mp4"}
+{"uid":"8555116709027866581","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9645024084746378140.mp4"}
+{"uid":"4327169755171618179","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the recycle  bin 2- pick the rold gold packet 3- drop the rold gold packet in the recycle bin 4- go close to the black cable 5- pick the black cable wire\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the recycle  bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the recycle  bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the recycle  bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet in the recycle  bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the recycle  bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet in the recycle  bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6089560361152785557.mp4"}
+{"uid":"2065515472792609924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the alphabet tile in the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4402635555250905038.mp4"}
+{"uid":"2210907117109014314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white 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":"3352905894997368766.mp4"}
+{"uid":"4301780769373333309","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11094997495382076528.mp4"}
+{"uid":"9059069793877407939","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange cable in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange cable in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"669306925941272569.mp4"}
+{"uid":"12905109364585276182","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet in the recycle  bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packet in the recycle  bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12522276609320178330.mp4"}
+{"uid":"5623595846390797117","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRub 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":"4936990314321065492.mp4"}
+{"uid":"16393170697958077982","text":"\u003ctask:success:discrete:False\u003e\ndrop the orange cable wire in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange cable wire in the recycle bin 2- pick the tissue box 3- release the tissue box into the bin 4- pick the brown packet 5- drop the brown packet in the recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: drop the orange cable wire in the recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange cable wire in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the orange cable wire in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange cable wire in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange cable wire in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8872916742513663695.mp4"}
+{"uid":"177249826539282411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white colour 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":"8764136465735534199.mp4"}
+{"uid":"11059338171596209530","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the tape Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable 11- pick the black cable wire 12- drop the black cable wire in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick the tape 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable 11- pick the black cable wire 12- drop the black cable wire in the recycle bin Q: immediate next step? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the tape Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12015658008146223862.mp4"}
+{"uid":"10876553295357873889","text":"\u003ctask:success:discrete:True\u003e\npick the rold gold packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the rold gold packet\n\u003c/PRED\u003e","video":"18286923894316639231.mp4"}
+{"uid":"1914939436013826095","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown packet in the recycle bin 2- pick the rold gold packet 3- drop the rold gold packet in the recycle bin 4- go close to the black cable 5- pick the black cable wire\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown packet in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown packet in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown packet in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown packet in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the brown packet in the recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin Q: immediate next step? \u003cPRED\u003eA: drop the brown packet in the recycle bin\n\u003c/PRED\u003e","video":"8256950607597766765.mp4"}
+{"uid":"6926381542067740062","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the tissue box in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the tissue box in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1207171133155506412.mp4"}
+{"uid":"6623222469105817947","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin Q: immediate next step? \u003cPRED\u003eA: pick the rold gold packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the rold gold packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the rold gold packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the rold gold packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick the rold gold packet 2- go close to the black cable 3- pick the black cable wire 4- drop the black cable wire in the recycle bin 5- drop the tape into the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the rold gold packet\n\u003c/PRED\u003e","video":"635934078429784407.mp4"}
+{"uid":"8130783229768144231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"2548296815188069764.mp4"}
+{"uid":"12071634982694845836","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":"4984553328945169645.mp4"}
+{"uid":"10736951394875372108","text":"\u003ctask:success:discrete:True\u003e\nrelease the black cable into 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: release the black cable into the bin\n\u003c/PRED\u003e","video":"8123008842504405063.mp4"}
+{"uid":"1380446738911895408","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the black cable wire in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the black cable wire in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17465010978008234950.mp4"}
+{"uid":"13280842641210564247","text":"\u003ctask:success:discrete:False\u003e\ndrop the rold gold packet in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the rold gold packet in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the rold gold packet in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the rold gold packet in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the rold gold packet in the recycle bin 2- go close to the black cable 3- pick the black cable wire 4- drop the black cable wire in the recycle bin 5- drop the tape into the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the rold gold packet in the recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin Q: immediate next step? \u003cPRED\u003eA: drop the rold gold packet in the recycle bin\n\u003c/PRED\u003e","video":"13643007475584309958.mp4"}
+{"uid":"13219420204873850366","text":"\u003ctask:success:discrete:True\u003e\npick the brown packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e","video":"13326387897985424880.mp4"}
+{"uid":"5262012076844900695","text":"\u003ctask:success:discrete:True\u003e\nrelease the tissue box into 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: release the tissue box into the bin\n\u003c/PRED\u003e","video":"8933979955191699451.mp4"}
+{"uid":"17975953701172006495","text":"\u003ctask:success:discrete:False\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm downwards 2- drop the orange cable wire in the recycle bin 3- pick the tissue box 4- release the tissue box into the bin 5- pick the brown packet\n\u003c/PRED\u003e","video":"15142332896560634355.mp4"}
+{"uid":"15063055054309792955","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11985124450280229962.mp4"}
+{"uid":"12238702041197750615","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange cable 2- pick the tissue box 3- release the tissue box into the bin 4- pick the brown packet 5- drop the brown packet in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9364500926370704550.mp4"}
+{"uid":"1918409756423865404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"7986689151616559530.mp4"}
+{"uid":"10198557689712369635","text":"\u003ctask:success:discrete:False\u003e\npick the black cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black cable 2- drop the tape into the bin 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable Q: immediate next step? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e","video":"3967559320361244454.mp4"}
+{"uid":"7766255822326873098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5083469605827883102.mp4"}
+{"uid":"9473283836592002277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput diamond shape object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"833897622520107687.mp4"}
+{"uid":"4530150000466967114","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable 11- pick the black cable wire 12- drop the black cable wire in the recycle bin 13- drop the tape into the bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the tape into the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the tape into 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable 11- pick the black cable wire 12- drop the black cable wire in the recycle bin 13- drop the tape into the bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1759668821589552163.mp4"}
+{"uid":"1711002633015872449","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1854230652912434982.mp4"}
+{"uid":"1920808284436082124","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin Q: immediate next step? \u003cPRED\u003eA: put the tissue box in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue box in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue box in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue box in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: put the tissue box in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue box in the recycle bin 2- pick the brown packet 3- drop the brown packet in the recycle bin 4- pick the rold gold packet 5- drop the rold gold packet in the recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue box in the recycle bin\n\u003c/PRED\u003e","video":"2153546788346955062.mp4"}
+{"uid":"17815800197404118904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana 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":"4260626704403098944.mp4"}
+{"uid":"2730504208231578775","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box Q: immediate next step? \u003cPRED\u003eA: release the tissue box into the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box Q: next 5 steps? \u003cPRED\u003eA: 1- release the tissue box into the bin 2- pick the brown packet 3- drop the brown packet in the recycle bin 4- pick the rold gold packet 5- drop the rold gold packet in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the tissue box into the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the tissue box into the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the tissue box into 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:success:discrete:False\u003e\nrelease the tissue box into 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:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: release the tissue box into the bin\n\u003c/PRED\u003e","video":"16816785835692490401.mp4"}
+{"uid":"15670070969047604675","text":"\u003ctask:success:discrete:False\u003e\ndrop the tape in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable 11- pick the black cable wire 12- drop the black cable wire in the recycle bin Q: immediate next step? \u003cPRED\u003eA: drop the tape in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable 11- pick the black cable wire 12- drop the black cable wire in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tape in the recycle bin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tape in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the tape in the recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tape in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tape in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1839511143016308780.mp4"}
+{"uid":"4578548350986386507","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go close to the black cable\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo close to the black cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12569410739075771468.mp4"}
+{"uid":"2505851404775328592","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black cable\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the black cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17625303264558357542.mp4"}
+{"uid":"18111517653419504966","text":"\u003ctask:success:discrete:True\u003e\nput the black cable in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black cable in the recycle bin\n\u003c/PRED\u003e","video":"13968083033516476595.mp4"}
+{"uid":"10116455187722901535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrag 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":"4144672384621564696.mp4"}
+{"uid":"11562407852082049219","text":"\u003ctask:success:discrete:False\u003e\npick the rold gold packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin Q: immediate next step? \u003cPRED\u003eA: pick the rold gold packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the rold gold packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the rold gold packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the rold gold packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick the rold gold packet 2- go close to the black cable 3- pick the black cable wire 4- drop the black cable wire in the recycle bin 5- drop the tape into the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the rold gold packet\n\u003c/PRED\u003e","video":"10033319981848246586.mp4"}
+{"uid":"17626961416165110421","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet Q: immediate next step? \u003cPRED\u003eA: drop the brown packet into the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown packet into 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: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown packet into the bin 2- pick the rold gold packet 3- drop the rold gold packet in the recycle bin 4- go close to the black cable 5- pick the black cable wire\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown packet into the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown packet into the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the brown packet into the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown packet into 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":"16291754236467521102.mp4"}
+{"uid":"1174001883994173142","text":"\u003ctask:success:discrete:True\u003e\npick the orange cable wire Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the orange cable wire\n\u003c/PRED\u003e","video":"1803381835072436832.mp4"}
+{"uid":"16313545010935695245","text":"\u003ctask:success:discrete:True\u003e\npick the brown packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e","video":"9905987222535710996.mp4"}
+{"uid":"504543647769019103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"7660086423983946567.mp4"}
+{"uid":"16308075105713715683","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin Q: immediate next step? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown packet 2- pick the rold gold packet 3- drop the rold gold packet in the recycle bin 4- go close to the black cable 5- pick the black cable wire\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e","video":"12960775663440042081.mp4"}
+{"uid":"13081058156930350776","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet Q: immediate next step? \u003cPRED\u003eA: release the rold gold packet into the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the rold gold packet into the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: release the rold gold packet into the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease the rold gold packet into 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\nrelease the rold gold packet into 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: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet Q: next 5 steps? \u003cPRED\u003eA: 1- release the rold gold packet into the bin 2- go close to the black cable 3- pick the black cable wire 4- drop the black cable wire in the recycle bin 5- drop the tape into the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the rold gold packet into the bin\n\u003c/PRED\u003e","video":"13495705723245790755.mp4"}
+{"uid":"9146086342824393019","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable 11- pick the black cable wire 12- drop the black cable wire in the recycle bin 13- pick the tape Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box 5- release the tissue box into the bin 6- pick the brown packet 7- drop the brown packet in the recycle bin 8- pick the rold gold packet 9- drop the rold gold packet in the recycle bin 10- go close to the black cable 11- pick the black cable wire 12- drop the black cable wire in the recycle bin 13- pick the tape Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the tape Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3835789794240814110.mp4"}
+{"uid":"2053942813756942160","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tissue box in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box Q: immediate next step? \u003cPRED\u003eA: drop the tissue box in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the tissue box in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire 3- drop the orange cable wire in the recycle bin 4- pick the tissue box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tissue box in the recycle bin 2- pick the brown packet 3- drop the brown packet in the recycle bin 4- pick the rold gold packet 5- drop the rold gold packet in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the tissue box in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tissue box in the recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tissue box in the recycle bin\n\u003c/PRED\u003e","video":"14450552969232007782.mp4"}
+{"uid":"11055063048707512748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue ball into the glass tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13508791133131477435.mp4"}
+{"uid":"17793058706743979049","text":"\u003ctask:success:discrete:True\u003e\npick the black cable wire Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black cable wire\n\u003c/PRED\u003e","video":"3110763974910425500.mp4"}
+{"uid":"12630196030225770799","text":"\u003ctask:success:discrete:True\u003e\ndrop the brown packet in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown packet in the recycle bin\n\u003c/PRED\u003e","video":"8215930432023916226.mp4"}
+{"uid":"797162725957479920","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black marker in right side 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":"14194455655953071263.mp4"}
+{"uid":"9785203992838952131","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange cable into 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange cable into the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the orange cable into the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange cable into 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire Q: immediate next step? \u003cPRED\u003eA: drop the orange cable into the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the orange cable wire Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange cable into the bin 2- pick the tissue box 3- release the tissue box into the bin 4- pick the brown packet 5- drop the brown packet in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange cable into the bin\n\u003c/PRED\u003e","video":"17075542360451463153.mp4"}
+{"uid":"18353390674701178036","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- put brown packet in the stand 6- put brown packet in the stand 7- put brown packet in the stand 8- put brown packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet in the stand 2- put brown packet in the stand 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- put brown packet in the stand 6- put brown packet in the stand 7- put brown packet in the stand 8- put brown packet in the stand Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet 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":"10838027072479468518.mp4"}
+{"uid":"14745912201295079594","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12945006961784363736.mp4"}
+{"uid":"6971612739196452111","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet 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":"11105219963245626830.mp4"}
+{"uid":"16060887347454137900","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange marker into the bottom 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":"14866239321657899781.mp4"}
+{"uid":"143196250444004188","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- put brown packet in the stand\n\u003c/PRED\u003e","video":"16361414211121516989.mp4"}
+{"uid":"10157148913658004948","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- put brown packet in the stand 6- put brown packet in the stand 7- put brown packet in the stand Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- put brown packet in the stand 6- put brown packet in the stand 7- put brown packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet 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":"2061953018551111822.mp4"}
+{"uid":"10138165526837481213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a yellow ball in between the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"306945366946336029.mp4"}
+{"uid":"5517590591113845960","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- put brown packet in the stand 6- put brown packet in the stand Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- put brown packet in the stand 6- put brown packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e","video":"17789848753316863405.mp4"}
+{"uid":"8225315094886856155","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 2 pink packets in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6324598232112607869.mp4"}
+{"uid":"8547398953574774676","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet 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":"14279277618677944083.mp4"}
+{"uid":"879755989668099337","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the forks in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10020738549660277469.mp4"}
+{"uid":"11852189899201672930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards 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":"15160187218951791162.mp4"}
+{"uid":"11332117190949776007","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e","video":"5580291087846235835.mp4"}
+{"uid":"6857422645764806611","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"3641756175485771734.mp4"}
+{"uid":"982725762242678332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the heart shape object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2554823312622071689.mp4"}
+{"uid":"11880361265672105686","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- put brown packet in the stand 6- put brown packet in the stand 7- put brown packet in the stand 8- put brown packet in the stand 9- put brown packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet in the stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- put brown packet in the stand 6- put brown packet in the stand 7- put brown packet in the stand 8- put brown packet in the stand 9- put brown packet in the stand Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e","video":"16160535717011173640.mp4"}
+{"uid":"4656228431203294309","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11179813765153964255.mp4"}
+{"uid":"992052511940645296","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- put brown packet in the stand Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the oatmeal packets in the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet 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: Place the oatmeal packets in the tray. last 20 steps: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- put brown packet in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet in the stand 2- put brown packet in the stand 3- put brown packet in the stand 4- put brown packet in the stand 5- put brown packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet in the stand\n\u003c/PRED\u003e","video":"9699943596340637149.mp4"}
+{"uid":"991796480331812814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the black book downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12186829541793894266.mp4"}
+{"uid":"9755072375242352775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5712060163824802917.mp4"}
+{"uid":"18044984965007609786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange packet inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1718761576463220867.mp4"}
+{"uid":"1395173693241641420","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10755712621555319075.mp4"}
+{"uid":"7490781643413320067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the papers  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":"17594301814135194698.mp4"}
+{"uid":"2853720915441078309","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stir into the glass with stick by taking out stick from the collection\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstir into the glass with stick by taking out stick from the collection Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table 9- stir into the glass with stick by taking out stick from the collection Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table 9- stir into the glass with stick by taking out stick from the collection Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"7104099577654144691.mp4"}
+{"uid":"9360428361575823406","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue snack bag into 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":"16264709459599218544.mp4"}
+{"uid":"1672104182536458292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue pen in the top tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14937184347811167405.mp4"}
+{"uid":"12304174162552735488","text":"\u003ctask:success:discrete:True\u003e\nPour the hot cocoa mix packet 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: Pour the hot cocoa mix packet in the glass\n\u003c/PRED\u003e","video":"6644181398309020596.mp4"}
+{"uid":"17060326764480681728","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the red candy to 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":"6898439164101507963.mp4"}
+{"uid":"69027673072208404","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the paper glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper glass on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk Q: immediate next step? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e","video":"7751220774363177845.mp4"}
+{"uid":"5722401599582442442","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: rotate the wooden stick inside the plastic cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: rotate the wooden stick inside the plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- rotate the wooden stick inside the plastic cup 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the wooden stick in plastic cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrotate the wooden stick inside the plastic cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table 9- Put the wooden stick in plastic cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the wooden stick 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:affordance:discriminative:discrete:True\u003e\nrotate the wooden stick inside the plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table Q: immediate next step? \u003cPRED\u003eA: rotate the wooden stick inside the plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table 9- Put the wooden stick in plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: rotate the wooden stick inside the plastic cup\n\u003c/PRED\u003e","video":"14790773205605157234.mp4"}
+{"uid":"12317849602922284743","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":"3762889944348720637.mp4"}
+{"uid":"8985449166984985320","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the wooden stick 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: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the wooden stick 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 wooden stick in plastic cup\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- Put the plastic cup on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table Q: immediate next step? \u003cPRED\u003eA: Put the wooden stick in plastic cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the wooden stick in plastic cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the wooden stick in plastic cup 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: Put the wooden stick in plastic cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- Put the plastic cup on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1689283797043934333.mp4"}
+{"uid":"6949270830939045628","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the paper glass under the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the paper glass under 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","video":"15504327345544725612.mp4"}
+{"uid":"11926120795629448479","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1187425680699916982.mp4"}
+{"uid":"749666905241853526","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet Q: next 5 steps? \u003cPRED\u003eA: 1- Pour the coca powder in plastic cup 2- press button present in the screen for milk 3- keep glass on table 4- stir into the glass with stick by taking out stick from the collection 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pour the coca powder in plastic cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet Q: immediate next step? \u003cPRED\u003eA: Pour the coca powder in plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPour the coca powder 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:success:discrete:False\u003e\nPour the coca powder 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:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: Pour the coca powder in plastic cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pour the coca powder in plastic cup\n\u003c/PRED\u003e","video":"11793754950801884135.mp4"}
+{"uid":"14385390838407530492","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass under coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the glass under 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","video":"7145935848388322413.mp4"}
+{"uid":"7251256402652062910","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":"7130202392578722903.mp4"}
+{"uid":"4720532481239625408","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- stir into the glass with stick by taking out stick from the collection 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstir into the glass with stick by taking out stick from the collection Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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\nstir into the glass with stick by taking out stick from the collection Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: stir into the glass with stick by taking out stick from the collection\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stir into the glass with stick by taking out stick from the collection\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stir into the glass with stick by taking out stick from the collection\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table Q: immediate next step? \u003cPRED\u003eA: stir into the glass with stick by taking out stick from the collection\n\u003c/PRED\u003e","video":"13672274560715759417.mp4"}
+{"uid":"6897752180458748688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the almond 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":"2683485117952789363.mp4"}
+{"uid":"206354087659933771","text":"\u003ctask:success:discrete:True\u003e\nPlace the glass upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the glass upright\n\u003c/PRED\u003e","video":"1136538617085092058.mp4"}
+{"uid":"6701722745266658717","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: press button present in the screen for milk\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npress button present in the screen for milk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10653701610254609639.mp4"}
+{"uid":"11354047482898134505","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":"13231874465580768148.mp4"}
+{"uid":"12972223417390701579","text":"\u003ctask:success:discrete:True\u003e\nkeep a cup on the table by taking it out from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep a cup on the table by taking it out from the stack\n\u003c/PRED\u003e","video":"508435959854424507.mp4"}
+{"uid":"6665457272674618834","text":"\u003ctask:success:discrete:True\u003e\nmove plastic cup mouth 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:success:discrete:False\u003e\nPut the plastic cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic cup on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic cup on table 2- Place the hot coco mix packet above the other packets 3- put the glass under coffee machine 4- press button present in the screen for milk 5- keep glass on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic cup on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic cup on table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move plastic cup mouth upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1294824748337576128.mp4"}
+{"uid":"16077544664270813173","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the white bowl 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":"8467809968106138489.mp4"}
+{"uid":"12865423318875747872","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic cup on table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic cup on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nSwitch on 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: Switch on coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic cup on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine Q: immediate next step? \u003cPRED\u003eA: Put the plastic cup on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic cup on table\n\u003c/PRED\u003e","video":"1850318904992779452.mp4"}
+{"uid":"3253881530545046572","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: press button present in the screen for milk\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npress button present in the screen for milk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: press button present in the screen for milk\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine Q: immediate next step? \u003cPRED\u003eA: press button present in the screen for milk\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- press button present in the screen for milk 2- keep glass on table 3- stir into the glass with stick by taking out stick from the collection 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: press button present in the screen for milk\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npress button present in the screen for milk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17643577938653612741.mp4"}
+{"uid":"13208369359668405932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the white 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":"9665604871241087680.mp4"}
+{"uid":"6227010813543767265","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the paper 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\nunstack the paper 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: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: unstack the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the paper glass 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the paper glass\n\u003c/PRED\u003e","video":"12278016553200191460.mp4"}
+{"uid":"5967793644321085098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace that spoon on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6004764048763155338.mp4"}
+{"uid":"195227785538590190","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- Put the paper glass on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- Put the paper glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the paper glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2828987390006312460.mp4"}
+{"uid":"5044998806108700296","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoons on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12448298510540688566.mp4"}
+{"uid":"7880159657706257434","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy 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":"16445575629324788009.mp4"}
+{"uid":"7706478047031438118","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":"14163650825469852878.mp4"}
+{"uid":"2648093675848413900","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table Q: immediate next step? \u003cPRED\u003eA: stir into the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstir into the paper 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: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- stir into the paper glass 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stir into the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstir into the paper 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: stir into the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: stir into the paper glass\n\u003c/PRED\u003e","video":"10413077772630171234.mp4"}
+{"uid":"4330077694742633488","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":"16955907455525494413.mp4"}
+{"uid":"17162753244599859254","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: keep a cup on the table by taking it out from the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep a cup on the table by taking it out from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep a cup on the table by taking it out from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep a cup on the table by taking it out from the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- keep a cup on the table by taking it out from the stack 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: keep a cup on the table by taking it out from the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep a cup on the table by taking it out from the stack\n\u003c/PRED\u003e","video":"3221170906016265759.mp4"}
+{"uid":"2412135021250558916","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pour the coca powder in plastic cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic cup under coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic cup under 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:success:discrete:True\u003e\nPour the coca powder 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic cup under coffee machine 2- keep glass on table 3- stir into the glass with stick by taking out stick from the collection 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: Put the plastic cup under coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets Q: immediate next step? \u003cPRED\u003eA: Put the plastic cup under coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic cup under 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic cup under coffee machine\n\u003c/PRED\u003e","video":"1402270771540921063.mp4"}
+{"uid":"12894112048965372350","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":"16311756499165308145.mp4"}
+{"uid":"3625114094473953262","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move plastic cup mouth upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove plastic cup mouth 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: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup Q: immediate next step? \u003cPRED\u003eA: move plastic cup mouth upwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: move plastic cup mouth upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move plastic cup mouth upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- move plastic cup mouth upwards 2- Put cocoa mix into the cup after taking it up from the table 3- Place the hot coco mix packet above the other packets 4- put the glass under coffee machine 5- press button present in the screen for milk\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nUnstack the plastic cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove plastic cup mouth upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Unstack the plastic cup\n\u003c/PRED\u003e","video":"18041627003704626491.mp4"}
+{"uid":"179454398656990163","text":"\u003ctask:success:discrete:False\u003e\nPlace the glass upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the glass upside down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the glass upside down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: Place the glass upside down\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the glass upside down 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the glass upside down\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the glass upside down\n\u003c/PRED\u003e","video":"10133704401105817207.mp4"}
+{"uid":"12664592728810277670","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Press the button\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPress the button Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Press the button 2- keep glass on table 3- stir into the glass with stick by taking out stick from the collection 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: Press the button\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine Q: immediate next step? \u003cPRED\u003eA: Press the button\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPress the button Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12279001725851051748.mp4"}
+{"uid":"10032956844851040675","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the glass towards right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the glass towards right 2- Place the hot coco mix packet above the other packets 3- put the glass under coffee machine 4- press button present in the screen for milk 5- keep glass on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the glass towards right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: Place the glass towards right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the glass towards right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup Q: immediate next step? \u003cPRED\u003eA: Place the glass towards right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the glass towards right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6003348272751159382.mp4"}
+{"uid":"9407821560324146286","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"13638394035433817715.mp4"}
+{"uid":"15663549697628246473","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: keep glass on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep glass on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep glass on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep glass on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep glass on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk Q: next 5 steps? \u003cPRED\u003eA: 1- keep glass on table 2- stir into the glass with stick by taking out stick from the collection 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk Q: immediate next step? \u003cPRED\u003eA: keep glass on table\n\u003c/PRED\u003e","video":"5673040067337784180.mp4"}
+{"uid":"10297258185850173619","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cocoa mix packet back on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: put the cocoa mix packet back on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the hot coco mix packet above the other packets Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: Place the hot coco mix packet above the other packets\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cocoa mix packet back on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the hot coco mix packet above the other packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut cocoa mix into the cup after taking it up 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the hot coco mix packet above the other packets\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the hot coco mix packet above the other packets 2- put the glass under coffee machine 3- press button present in the screen for milk 4- keep glass on table 5- stir into the glass with stick by taking out stick from the collection\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table Q: immediate next step? \u003cPRED\u003eA: put the cocoa mix packet back on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put cocoa mix into the cup after taking it up from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the hot coco mix packet above the other packets\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cocoa mix packet back 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: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the cocoa mix packet back on the table 2- put the glass under coffee machine 3- press button present in the screen for milk 4- keep glass on table 5- stir into the glass with stick by taking out stick from the collection\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cocoa mix packet back 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: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table Q: immediate next step? \u003cPRED\u003eA: Place the hot coco mix packet above the other packets\n\u003c/PRED\u003e","video":"1109854504977458477.mp4"}
+{"uid":"15780293425928101604","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put cocoa mix into the cup after taking it up from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet Q: next 5 steps? \u003cPRED\u003eA: 1- Put cocoa mix into the cup after taking it up from the table 2- Place the hot coco mix packet above the other packets 3- put the glass under coffee machine 4- press button present in the screen for milk 5- keep glass on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet Q: immediate next step? \u003cPRED\u003eA: Put cocoa mix into the cup after taking it up from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut cocoa mix into the cup after taking it up 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\nPut cocoa mix into the cup after taking it up 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:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: Put cocoa mix into the cup after taking it up from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put cocoa mix into the cup after taking it up from the table\n\u003c/PRED\u003e","video":"974745637565442203.mp4"}
+{"uid":"12116766341770049457","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\u003ctask:affordance:discriminative:discrete:False\u003e\nput the page  clip holder 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":"6307975002233269026.mp4"}
+{"uid":"18324607053156282021","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":"1319456153599683246.mp4"}
+{"uid":"17132871653720091607","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a white packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11946334462605762729.mp4"}
+{"uid":"5324465138358618342","text":"\u003ctask:success:discrete:False\u003e\nput the glass under 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:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: put the glass under coffee machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass under coffee machine 2- press button present in the screen for milk 3- keep glass on table 4- stir into the glass with stick by taking out stick from the collection 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets Q: immediate next step? \u003cPRED\u003eA: put the glass under coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass under coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glass under 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 glass under coffee machine\n\u003c/PRED\u003e","video":"4435283141411211922.mp4"}
+{"uid":"15333749420939720913","text":"\u003ctask:success:discrete:False\u003e\nPour the hot cocoa mix packet in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: Pour the hot cocoa mix packet in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pour the hot cocoa mix packet in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPour the hot cocoa mix packet 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: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet Q: immediate next step? \u003cPRED\u003eA: Pour the hot cocoa mix packet in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pour the hot cocoa mix packet in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet Q: next 5 steps? \u003cPRED\u003eA: 1- Pour the hot cocoa mix packet in the glass 2- Place the hot coco mix packet above the other packets 3- put the glass under coffee machine 4- press button present in the screen for milk 5- keep glass on table\n\u003c/PRED\u003e","video":"3312091279387480960.mp4"}
+{"uid":"8993447720830449085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"16455602073611603755.mp4"}
+{"uid":"7159983141237199900","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep glass on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep glass on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15247370064991964176.mp4"}
+{"uid":"5121841818484043689","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper glass under the coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets Q: immediate next step? \u003cPRED\u003eA: Put the paper glass under the coffee machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: Put the paper glass under the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper glass under 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 under the coffee machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper glass under the coffee machine 2- keep glass on table 3- stir into the glass with stick by taking out stick from the collection 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the paper glass under 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","video":"4234796725812643739.mp4"}
+{"uid":"15958358129069851985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"16696503373418885166.mp4"}
+{"uid":"2668654194150736651","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: invert the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ninvert 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":"3031122997691236548.mp4"}
+{"uid":"1600597745915675536","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine Q: immediate next step? \u003cPRED\u003eA: Switch on coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSwitch on 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: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Switch on coffee machine 2- keep glass on table 3- stir into the glass with stick by taking out stick from the collection 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Switch on coffee machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: Switch on coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Switch on coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSwitch on 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:success:discrete:True\u003e\nPut the plastic cup under 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 plastic cup under coffee machine\n\u003c/PRED\u003e","video":"5019572772920617713.mp4"}
+{"uid":"13345869113608775118","text":"\u003ctask:success:discrete:True\u003e\nstir into the paper 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: rotate the wooden stick inside the plastic cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table 9- rotate the wooden stick inside the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table 9- rotate the wooden stick inside the plastic cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nrotate the wooden stick inside the plastic cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stir into the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table 9- stir into the paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup 3- move the cup near the cocoa mix packet 4- Put cocoa mix into the cup after taking it up from the table 5- Place the hot coco mix packet above the other packets 6- put the glass under coffee machine 7- press button present in the screen for milk 8- keep glass on table 9- stir into the paper glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8084571911265376492.mp4"}
+{"uid":"112471666957227832","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup Q: immediate next step? \u003cPRED\u003eA: move the cup near the cocoa mix packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup 2- invert the cup Q: next 5 steps? \u003cPRED\u003eA: 1- move the cup near the cocoa mix packet 2- Put cocoa mix into the cup after taking it up from the table 3- Place the hot coco mix packet above the other packets 4- put the glass under coffee machine 5- press button present in the screen for milk\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the cup near the cocoa mix packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the cup near the cocoa mix 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\nmove the cup near the cocoa mix packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the cup near the cocoa mix packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: move the cup near the cocoa mix packet\n\u003c/PRED\u003e","video":"6032064219189801621.mp4"}
+{"uid":"7761757383884737593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the steel tong on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3474403151615271951.mp4"}
+{"uid":"1213864027194886958","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the glass upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: Place the glass upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the glass upright 2- Put cocoa mix into the cup after taking it up from the table 3- Place the hot coco mix packet above the other packets 4- put the glass under coffee machine 5- press button present in the screen for milk\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the glass 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:success:discrete:False\u003e\nPlace the glass 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the glass upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: 1- Unstack the plastic cup Q: immediate next step? \u003cPRED\u003eA: Place the glass upright\n\u003c/PRED\u003e","video":"16412689291469638446.mp4"}
+{"uid":"2024452537404040983","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: invert the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ninvert 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: invert the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: invert the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Make hot chocolate in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- invert the cup 2- move the cup near the cocoa mix packet 3- Put cocoa mix into the cup after taking it up from the table 4- Place the hot coco mix packet above the other packets 5- put the glass under coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ninvert 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: Make hot chocolate in the MK Q: immediate next step? \u003cPRED\u003eA: invert the cup\n\u003c/PRED\u003e","video":"14776802516088529312.mp4"}
+{"uid":"1336934404838018340","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy into the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3117809280154567630.mp4"}
+{"uid":"8460105627816057252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2068508012895968899.mp4"}
+{"uid":"10870401663300826793","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the duster on the board stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- write wranglers on the board with red marker 2- put the red marker on the board stand 3- clean the white board Q: immediate next step? \u003cPRED\u003eA: put the duster on the board stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- write wranglers on the board with red marker 2- put the red marker on the board stand 3- clean the white board Q: next 5 steps? \u003cPRED\u003eA: 1- put the duster on the board stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the duster on the board stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the duster on the board stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: put the duster on the board stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the duster on the board 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":"15869344122633922010.mp4"}
+{"uid":"3821069076667023260","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":"3655622899798969298.mp4"}
+{"uid":"702867336354021021","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: write wranglers on the board with red marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write wranglers on the board with red marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwrite wranglers on the board with red marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite wranglers on the board with red marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: write wranglers on the board with red marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: write wranglers on the board with red marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- write wranglers on the board with red marker 2- put the red marker on the board stand 3- clean the white board 4- put the duster on the board stand 5- done\n\u003c/PRED\u003e","video":"3601856270376416860.mp4"}
+{"uid":"1966093736516078243","text":"\u003ctask:success:discrete:True\u003e\npour the water in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour the water in the sink\n\u003c/PRED\u003e","video":"4271674516752669533.mp4"}
+{"uid":"9035154164292727649","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour the water in the sink\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. last 20 steps: 1- open the cap of the bottle Q: immediate next step? \u003cPRED\u003eA: pour the water in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour the water in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. last 20 steps: 1- open the cap of the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- pour the water in the sink 2- close the cap 3- exit the room 4- open the gate 5- close the gate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour the water in the sink\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. Q: immediate next step? \u003cPRED\u003eA: pour the water in the sink\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour the water in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6455467066058189745.mp4"}
+{"uid":"17918424366976267795","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. last 20 steps: 1- open the cap of the bottle 2- pour the water in the sink 3- close the cap Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. last 20 steps: 1- open the cap of the bottle 2- pour the water in the sink 3- close the cap Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- open the gate 3- close the gate 4- Drop the bottle in the container 5- done\n\u003c/PRED\u003e","video":"17005780274061708512.mp4"}
+{"uid":"15882756741430475717","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: clean the white board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the white board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- write wranglers on the board with red marker 2- put the red marker on the board stand Q: immediate next step? \u003cPRED\u003eA: clean the white board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the white board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- write wranglers on the board with red marker 2- put the red marker on the board stand Q: next 5 steps? \u003cPRED\u003eA: 1- clean the white board 2- put the duster on the board stand 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12399063038866553045.mp4"}
+{"uid":"2893607756018571277","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- write wranglers on the board with red marker Q: immediate next step? \u003cPRED\u003eA: put the red marker on the board stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red marker on the board stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red marker on the board stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: put the red marker on the board stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- write wranglers on the board with red marker Q: next 5 steps? \u003cPRED\u003eA: 1- put the red marker on the board stand 2- clean the white board 3- put the duster on the board stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red marker on the board stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red marker on the board stand\n\u003c/PRED\u003e","video":"17255288315773072192.mp4"}
+{"uid":"3690280524597661520","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- done\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:planning:freeform\u003e\ncurrent goal is: put the chips in the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"13081645981268184764.mp4"}
+{"uid":"1528628735177252029","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: none 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: put the chips in the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- 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: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: put the chips in the 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","video":"12318377080049259603.mp4"}
+{"uid":"16333981567870273404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the seaweed snacks 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":"17515515214315518606.mp4"}
+{"uid":"17329074249630434206","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"5713503376742670741.mp4"}
+{"uid":"5270415984498941049","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"8372789307352326761.mp4"}
+{"uid":"14625200553176481153","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cap of the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the cap of the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"862454212322007062.mp4"}
+{"uid":"2125023450085370286","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: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:planning:freeform\u003e\ncurrent goal is: put the chips in the 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: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray\n\u003c/PRED\u003e","video":"920514971090298644.mp4"}
+{"uid":"7941713578926551314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes 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":"8187268373700963352.mp4"}
+{"uid":"2127093329688136065","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. Q: immediate next step? \u003cPRED\u003eA: open the gate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. last 20 steps: 1- open the cap of the bottle 2- pour the water in the sink 3- close the cap 4- exit the room Q: immediate next step? \u003cPRED\u003eA: open the gate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the gate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. last 20 steps: 1- open the cap of the bottle 2- pour the water in the sink 3- close the cap 4- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- open the gate 2- close the gate 3- Drop the bottle in the container 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the gate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the gate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 gate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15882573454572474106.mp4"}
+{"uid":"14426446759270425578","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":"6560525607220695653.mp4"}
+{"uid":"15418346868322698962","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":"3052148062327812059.mp4"}
+{"uid":"15192491469198061607","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":"9158699576559636413.mp4"}
+{"uid":"12633099475554319194","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: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: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the packet in the tray 8- put the packet in the 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: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the packet in the tray 8- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the 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","video":"1698075579979627202.mp4"}
+{"uid":"4044216246287992000","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:planning:freeform\u003e\ncurrent goal is: put the chips in the 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: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the 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: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- 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","video":"13003536376925863652.mp4"}
+{"uid":"9462985580742470266","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"12443982503454869929.mp4"}
+{"uid":"5499052714538002754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhang the cap to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3091606803640166058.mp4"}
+{"uid":"5972125880400078045","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"17130770515859695625.mp4"}
+{"uid":"9197552612881261766","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: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: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: put the chips in the 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: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"3264530629162278365.mp4"}
+{"uid":"10698641491768060027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWipe out the water with 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":"10699935398574613406.mp4"}
+{"uid":"11117070723332333886","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange snack bag in the left side 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":"16306545468223303235.mp4"}
+{"uid":"8844995728098112745","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. last 20 steps: 1- open the cap of the bottle 2- pour the water in the sink Q: immediate next step? \u003cPRED\u003eA: close the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. last 20 steps: 1- open the cap of the bottle 2- pour the water in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- close the cap 2- exit the room 3- open the gate 4- close the gate 5- Drop the bottle in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. Q: immediate next step? \u003cPRED\u003eA: close the cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the cap\n\u003c/PRED\u003e","video":"14333287777466353543.mp4"}
+{"uid":"3636335454588176537","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\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","video":"12306383341740341908.mp4"}
+{"uid":"12350641892789256094","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate crunch into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6100213489052658381.mp4"}
+{"uid":"5217089677031668143","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: put the chips in the 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: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the 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: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":"16705255546667151068.mp4"}
+{"uid":"626348381028546316","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the white board\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"823776418908479495.mp4"}
+{"uid":"7895676903297136514","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put the packet in the 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: put the chips in the tray. last 20 steps: 1- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray\n\u003c/PRED\u003e","video":"8242533898021811803.mp4"}
+{"uid":"5226260202218868380","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the 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: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: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray\n\u003c/PRED\u003e","video":"7294679115919311138.mp4"}
+{"uid":"2425551573798881425","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16405193882103899126.mp4"}
+{"uid":"12255109425528456617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3121708813379084114.mp4"}
+{"uid":"6302327777889668661","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the packet in the tray 8- put the packet in the tray 9- put the packet in the tray 10- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the packet in the tray 8- put the packet in the tray 9- put the packet in the tray 10- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9162512986092503946.mp4"}
+{"uid":"4275959868316178513","text":"\u003ctask:success:discrete:False\u003e\nopen the cap of the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cap of the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cap of the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. Q: immediate next step? \u003cPRED\u003eA: open the cap of the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the cap of the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the cap of the bottle 2- pour the water in the sink 3- close the cap 4- exit the room 5- open the gate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cap of the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15661430069752790024.mp4"}
+{"uid":"5213660820875625611","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. Q: immediate next step? \u003cPRED\u003eA: Drop the bottle in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the bottle in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the bottle in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. last 20 steps: 1- open the cap of the bottle 2- pour the water in the sink 3- close the cap 4- exit the room 5- open the gate 6- close the gate Q: immediate next step? \u003cPRED\u003eA: Drop the bottle in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. last 20 steps: 1- open the cap of the bottle 2- pour the water in the sink 3- close the cap 4- exit the room 5- open the gate 6- close the gate Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the bottle in the container 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the bottle in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the bottle in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5879233394502069100.mp4"}
+{"uid":"12747082545480498769","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":"5395647318473486617.mp4"}
+{"uid":"11542576949615686745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack up the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10937151319425623688.mp4"}
+{"uid":"13511969456560323980","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":"5356335140522080400.mp4"}
+{"uid":"803974538365198778","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":"17053669832707263867.mp4"}
+{"uid":"12650971211307397619","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. last 20 steps: 1- open the cap of the bottle 2- pour the water in the sink 3- close the cap 4- exit the room 5- open the gate Q: next 5 steps? \u003cPRED\u003eA: 1- close the gate 2- Drop the bottle in the container 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. last 20 steps: 1- open the cap of the bottle 2- pour the water in the sink 3- close the cap 4- exit the room 5- open the gate Q: immediate next step? \u003cPRED\u003eA: close the gate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the gate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the gate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 gate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the gate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please pour the water out of the water bottle and bring it back to RC5. Q: immediate next step? \u003cPRED\u003eA: close the gate\n\u003c/PRED\u003e","video":"8337953102068171119.mp4"}
+{"uid":"5689041967050549133","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":"12306609643128676384.mp4"}
+{"uid":"15322985409522754930","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: write wranglers on the board with red marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwrite wranglers on the board with red marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14584975120266323921.mp4"}
+{"uid":"12376181708528207148","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13999533664241137950.mp4"}
+{"uid":"2601230855885545828","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: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: put the chips in the 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: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the packet in the tray 8- put the packet in the tray 9- put the packet in the 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: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: put the chips in the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the packet in the tray 8- put the packet in the tray 9- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- done\n\u003c/PRED\u003e","video":"1662802224637740380.mp4"}
+{"uid":"763233525636821466","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"1918970363881004308.mp4"}
+{"uid":"12993348901456512707","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"16606440465195233146.mp4"}
+{"uid":"664027053507303853","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":"11026382377763730544.mp4"}
+{"uid":"14353278858884663083","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12030741052483787700.mp4"}
+{"uid":"3379335975705148913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7856829040024261865.mp4"}
+{"uid":"3311503038803933530","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop forks 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":"17033180269030704252.mp4"}
+{"uid":"16151610037619578059","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- Drive forward 3- Go straight 4- Enter the meeting room 5- Go to the table\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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\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","video":"1876650942597814288.mp4"}
+{"uid":"16699193960198313200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green 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":"3846144797222541658.mp4"}
+{"uid":"1066031394565898295","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please 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: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: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the room 2- Move towards the wooden racks 3- Move towards the white snack bags 4- Pick the white snack bag 5- Exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward Q: immediate next step? \u003cPRED\u003eA: Enter the room\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","video":"13125507844319970822.mp4"}
+{"uid":"2075691441830547221","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":"14746395122349136498.mp4"}
+{"uid":"7706241034676173576","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the white snack bags Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the white snack bags\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks Q: immediate next step? \u003cPRED\u003eA: Move towards the white snack bags\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Move towards the white snack bags\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the white snack bags 2- Pick the white snack bag 3- Exit the room 4- Drive forward 5- Go straight\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the white snack bags\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the white snack bags Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5409991973770003442.mp4"}
+{"uid":"14825335492830819769","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move forward 2- Go straight 3- Enter the meeting room 4- Go to the table 5- drop the white packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room Q: immediate next step? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17703546351691540935.mp4"}
+{"uid":"17238787679571586148","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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\u003ctask:success:discrete:False\u003e\nMove to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the right 2- Enter the room 3- Move towards the wooden racks 4- Move towards the white snack bags 5- Pick the white snack bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup 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":"6199264769997305295.mp4"}
+{"uid":"5085437291498147044","text":"\u003ctask:success:discrete:True\u003e\nMove towards the wooden racks Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the wooden racks\n\u003c/PRED\u003e","video":"5194338342316099178.mp4"}
+{"uid":"10688473050115676781","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9601458634979823609.mp4"}
+{"uid":"6808320431713617085","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e","video":"11600750643526924593.mp4"}
+{"uid":"6056996279655658906","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e","video":"613761757276001072.mp4"}
+{"uid":"3728612880232552510","text":"\u003ctask:success:discrete:False\u003e\ngo to the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- go to the rack 2- Move towards the white snack bags 3- Pick the white snack bag 4- Exit the room 5- Drive forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room Q: immediate next step? \u003cPRED\u003eA: go to the rack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: go to the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the 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: go to the rack\n\u003c/PRED\u003e","video":"2687107402507868561.mp4"}
+{"uid":"8368952312028172432","text":"\u003ctask:success:discrete:True\u003e\nMove to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the shelf\n\u003c/PRED\u003e","video":"1601283975972076144.mp4"}
+{"uid":"947916293774070934","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the white packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the white 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- drop the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- drop the white packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11002333574803233339.mp4"}
+{"uid":"13560910994349632889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the oreo 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":"12877011248086217118.mp4"}
+{"uid":"14421560940495458430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14046253886022543697.mp4"}
+{"uid":"6070471266630308226","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":"7530261453976782910.mp4"}
+{"uid":"8763838957915044150","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange in the large 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":"5175177773177917927.mp4"}
+{"uid":"17382805169550756107","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the white packet 2- Drive forward 3- Go straight 4- Enter the meeting room 5- Go to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the white packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks Q: immediate next step? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e","video":"7682482462589590348.mp4"}
+{"uid":"14683836505433502120","text":"\u003ctask:success:discrete:True\u003e\nMove forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e","video":"10247358630148293566.mp4"}
+{"uid":"58130385922683257","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"5643698822645954493.mp4"}
+{"uid":"8748187814524532978","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\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: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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Go straight 3- Enter the meeting room 4- Go to the table 5- drop the white packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 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","video":"4230561125612760445.mp4"}
+{"uid":"8794919247680823639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the holder on the desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1856490901625990565.mp4"}
+{"uid":"10021089634874909107","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the white snack bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Pick up the white snack bag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the white snack bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the white snack bag 2- Drive forward 3- Go straight 4- Enter the meeting room 5- Go to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags Q: immediate next step? \u003cPRED\u003eA: Pick up the white snack bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the white snack bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the white snack bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14729840412683640577.mp4"}
+{"uid":"5687342341846854901","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"122179642959378565.mp4"}
+{"uid":"8245211448468530325","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward Q: immediate next step? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrive forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward Q: next 5 steps? \u003cPRED\u003eA: 1- Drive forward 2- Enter the room 3- Move towards the wooden racks 4- Move towards the white snack bags 5- Pick the white snack bag\n\u003c/PRED\u003e","video":"3251900478719998002.mp4"}
+{"uid":"8826269844044992383","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":"18347266033390890953.mp4"}
+{"uid":"933389361678902757","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the table 2- move away from the white packet 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the table 2- move away from the white packet 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e","video":"7997467419858439129.mp4"}
+{"uid":"9736465850611838542","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":"4178278019590064930.mp4"}
+{"uid":"4108923494125055502","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17510856945354506624.mp4"}
+{"uid":"12640082846011280531","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGo straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go straight\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go straight\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward Q: next 5 steps? \u003cPRED\u003eA: 1- Go straight 2- Enter the meeting room 3- Go to the table 4- drop the white packet on the table 5- move away from the white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo straight Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward Q: immediate next step? \u003cPRED\u003eA: Go straight\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Go straight\n\u003c/PRED\u003e","video":"1229582983558357883.mp4"}
+{"uid":"14318344804543536465","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Pick the white snack bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the white snack bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the white snack bag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the white snack bag 2- Drive forward 3- Go straight 4- Enter the meeting room 5- Go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the white snack bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the white snack bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags Q: immediate next step? \u003cPRED\u003eA: Pick the white snack bag\n\u003c/PRED\u003e","video":"11425729217247054375.mp4"}
+{"uid":"12057673243620219721","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go straight\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo straight Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"75922850679213944.mp4"}
+{"uid":"6504342975903370670","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrive forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9970525941800418247.mp4"}
+{"uid":"12390421645068563940","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":"13344817377613779665.mp4"}
+{"uid":"1771868975104575403","text":"\u003ctask:success:discrete:False\u003e\nPlace the white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table Q: immediate next step? \u003cPRED\u003eA: Place the white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Place the white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packet on the table\n\u003c/PRED\u003e","video":"3584578829127599392.mp4"}
+{"uid":"16237418895984319851","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the meeting room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nenter the meeting 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":"5981508978806983791.mp4"}
+{"uid":"2885088660642577180","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput beans in paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15756066343103465929.mp4"}
+{"uid":"1394565417559889441","text":"\u003ctask:success:discrete:True\u003e\nMove forward in the hall way Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move forward in the hall way\n\u003c/PRED\u003e","video":"1331430308360695652.mp4"}
+{"uid":"6842231800957927191","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the white packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the white packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the white packet 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: move away from the white packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table Q: immediate next step? \u003cPRED\u003eA: move away from the white packet\n\u003c/PRED\u003e","video":"5925144484186964961.mp4"}
+{"uid":"17600762358630332138","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3296493890729541441.mp4"}
+{"uid":"6084938470549985862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16667808084005826492.mp4"}
+{"uid":"17093577178020111632","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":"10935413355437605216.mp4"}
+{"uid":"8983673327279355312","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- drop the white packet on the table Q: immediate next step? \u003cPRED\u003eA: move away from the white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the white 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\nmove away from the white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the white packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- drop the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the white packet 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: move away from the white packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the white packet\n\u003c/PRED\u003e","video":"6043030005595168299.mp4"}
+{"uid":"15003435623554121156","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: enter the meeting room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight Q: next 5 steps? \u003cPRED\u003eA: 1- enter the meeting room 2- drop the white packet on the table 3- move away from the white packet 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight Q: immediate next step? \u003cPRED\u003eA: enter the meeting room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the meeting 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\nenter the meeting 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 meeting room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the meeting room\n\u003c/PRED\u003e","video":"16090599479586892303.mp4"}
+{"uid":"4035551603267166407","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nEnter the meeting 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: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the meeting room 2- drop the white packet on the table 3- move away from the white packet 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter the meeting room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight Q: immediate next step? \u003cPRED\u003eA: Enter the meeting room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Enter the meeting room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter the meeting room\n\u003c/PRED\u003e","video":"17594880584706153519.mp4"}
+{"uid":"16268138094210673777","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18433354954262053249.mp4"}
+{"uid":"2883074804465457047","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2051500283746941101.mp4"}
+{"uid":"11543376194293974969","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sanitizer bottle 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":"5399612730387117308.mp4"}
+{"uid":"14685625774289948034","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6631498975159585141.mp4"}
+{"uid":"17004496584227028956","text":"\u003ctask:success:discrete:True\u003e\nput the white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- put the white packet 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: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9215065422676385181.mp4"}
+{"uid":"940028251838688218","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e","video":"1928443931844024019.mp4"}
+{"uid":"2293136331145721776","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":"14007001104052788912.mp4"}
+{"uid":"9452565031036824460","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":"10569983135223989083.mp4"}
+{"uid":"2124405946287587902","text":"\u003ctask:success:discrete:True\u003e\nGrasp the white snack bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the white snack bag\n\u003c/PRED\u003e","video":"12952214805270972848.mp4"}
+{"uid":"15511219781955437858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18263966713223965668.mp4"}
+{"uid":"575655625504730270","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the white snack bag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the white snack bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11797724221835548243.mp4"}
+{"uid":"2855892598330978694","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":"9256658664570233462.mp4"}
+{"uid":"10263107977598302551","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the white packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the white packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: drop the white packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room Q: next 5 steps? \u003cPRED\u003eA: 1- drop the white packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room Q: immediate next step? \u003cPRED\u003eA: drop the white packet on the table\n\u003c/PRED\u003e","video":"12898741438847567213.mp4"}
+{"uid":"6005489159789284871","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":"13099928313577060694.mp4"}
+{"uid":"6460758399513435603","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room Q: immediate next step? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move forward 2- Enter the meeting room 3- Go to the table 4- drop the white packet on the table 5- move away from the white packet\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":"3038043303557758179.mp4"}
+{"uid":"1832858302017003052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the adapter 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":"7398096395613645857.mp4"}
+{"uid":"12621899972460107458","text":"\u003ctask:success:discrete:True\u003e\nPlace the white snack bag on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- Place the white snack bag 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: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- Place the white snack bag on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the white snack bag on the table\n\u003c/PRED\u003e","video":"18217445891657989244.mp4"}
+{"uid":"3154842598397934195","text":"\u003ctask:success:discrete:True\u003e\nEnter the meeting 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: Enter the meeting room\n\u003c/PRED\u003e","video":"2370103862720610003.mp4"}
+{"uid":"1449290251679115995","text":"\u003ctask:success:discrete:True\u003e\nMove forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e","video":"1899951059677298785.mp4"}
+{"uid":"16399429206258207234","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Drive forward in hallway\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drive forward in hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward Q: next 5 steps? \u003cPRED\u003eA: 1- Drive forward in hallway 2- Enter the meeting room 3- Go to the table 4- drop the white packet on the table 5- move away from the white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrive forward in 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: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward Q: immediate next step? \u003cPRED\u003eA: Drive forward in hallway\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrive forward in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drive forward in hallway\n\u003c/PRED\u003e","video":"16340470845104388146.mp4"}
+{"uid":"1473139162614156378","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":"12771686512431911611.mp4"}
+{"uid":"8106566541969260396","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white snack bag on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white snack bag on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table Q: immediate next step? \u003cPRED\u003eA: Place the white snack bag on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Place the white snack bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white snack bag 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 grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white snack bag on the table 2- done\n\u003c/PRED\u003e","video":"9871411974346913267.mp4"}
+{"uid":"14169700893498613449","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: enter the office room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight Q: immediate next step? \u003cPRED\u003eA: enter the office room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the office room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the office 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\nenter the office 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: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight Q: next 5 steps? \u003cPRED\u003eA: 1- enter the office room 2- Go to the table 3- drop the white packet on the table 4- move away from the white packet 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the office room\n\u003c/PRED\u003e","video":"6269249514403827038.mp4"}
+{"uid":"11120507179073797437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet in 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":"8467269723314450340.mp4"}
+{"uid":"15245182264025619679","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrive forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrive forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag Q: next 5 steps? \u003cPRED\u003eA: 1- Drive forward 2- Go straight 3- Enter the meeting room 4- Go to the table 5- drop the white packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag Q: immediate next step? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e","video":"15629767281981926122.mp4"}
+{"uid":"7159804349791935998","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Leave the room\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: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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Leave the room 2- Move forward 3- Enter the room 4- Move towards the wooden racks 5- Move towards the white snack bags\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Leave the room\n\u003c/PRED\u003e","video":"709917315465895665.mp4"}
+{"uid":"15529400485755336311","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the white packet from the down tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Pick the white packet from the down tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the white packet from the down tray 2- Exit the room 3- Drive forward 4- Go straight 5- Enter the meeting room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks Q: immediate next step? \u003cPRED\u003eA: Pick the white packet from the down tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the white packet from the down 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: Pick the white packet from the down tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the white packet from the down 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":"7453336075666484836.mp4"}
+{"uid":"8135963992646011136","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"9862639475225724999.mp4"}
+{"uid":"12451661879657427506","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift 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":"13983962733972006915.mp4"}
+{"uid":"11665082779960563809","text":"\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: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:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the room 2- Move towards the wooden racks 3- Move towards the white snack bags 4- Pick the white snack bag 5- Exit the room\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","video":"2494708643245512520.mp4"}
+{"uid":"3162537025811891168","text":"\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: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Enter the room\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight Q: immediate next step? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the room 2- drop the white packet on the table 3- move away from the white packet 4- done\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: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","video":"11940123574001976895.mp4"}
+{"uid":"6852462627666504405","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Drive forward 3- Go straight 4- Enter the meeting room 5- Go to the table\n\u003c/PRED\u003e","video":"6936575887336066537.mp4"}
+{"uid":"13409324951819000143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the disposal 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":"690400577413805288.mp4"}
+{"uid":"11059204765822253230","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the meeting room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nexit the meeting 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":"7708754798901741356.mp4"}
+{"uid":"8429020490939684034","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room 2- Move towards the white snack bags 3- Pick the white snack bag 4- Exit the room 5- Drive forward\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 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: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:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e","video":"3398735063072732116.mp4"}
+{"uid":"15644973994782141285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the chewing gum 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":"6423534524032166166.mp4"}
+{"uid":"14920871845421463445","text":"\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: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move forward 2- Enter the room 3- Move towards the wooden racks 4- Move towards the white snack bags 5- Pick the white snack bag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room Q: immediate next step? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please 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\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","video":"8656503478863889873.mp4"}
+{"uid":"4906961163176057881","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\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","video":"11616803343542498285.mp4"}
+{"uid":"10145649016237456450","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":"5273108781116593121.mp4"}
+{"uid":"13369116662474318257","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the white snack bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the white snack bag 2- Exit the room 3- Drive forward 4- Go straight 5- Enter the meeting room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the white snack bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Grasp the white snack bag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks Q: immediate next step? \u003cPRED\u003eA: Grasp the white snack bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the white snack bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the white snack bag\n\u003c/PRED\u003e","video":"5215156337997230228.mp4"}
+{"uid":"1357713124835107948","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- Go straight 3- Enter the meeting room 4- Go to the table 5- drop the white packet on the table\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please 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":"18106715905162676214.mp4"}
+{"uid":"1402042983223179086","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":"16057761736581561335.mp4"}
+{"uid":"3517783325921781168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"584216755479847772.mp4"}
+{"uid":"14486253884429775279","text":"\u003ctask:success:discrete:True\u003e\nPick the white packet from the down 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: Pick the white packet from the down tray\n\u003c/PRED\u003e","video":"9902155363494251312.mp4"}
+{"uid":"13492962156964276144","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- Place the white snack bag on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the white snack bag 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 grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- Place the white snack bag 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: Place the white snack bag on the table\n\u003c/PRED\u003e","video":"844038677106997836.mp4"}
+{"uid":"76017612746439456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the alcohol pad 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":"4414015708309068965.mp4"}
+{"uid":"18261621263346205871","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":"17075266544222035660.mp4"}
+{"uid":"2749414449162662182","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":"12404728081464519818.mp4"}
+{"uid":"7300172650045012621","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana on the pink 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":"9658064737493694617.mp4"}
+{"uid":"14178759463634147727","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the table 2- move away from the white packet 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room Q: immediate next step? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15758168445181085940.mp4"}
+{"uid":"12475637017921514793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sugar packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4834530724980857835.mp4"}
+{"uid":"4918050988035841260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrearrange 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":"13860420289127223966.mp4"}
+{"uid":"8216946491041600129","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":"5749632255152854449.mp4"}
+{"uid":"9520475732161466679","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- drop the white packet on the table Q: immediate next step? \u003cPRED\u003eA: Move close to the white snack bag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the white snack bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the white snack bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- drop the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the white snack bag 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Move close to the white snack bag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the white snack bag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the white snack bag\n\u003c/PRED\u003e","video":"4843890415950177313.mp4"}
+{"uid":"4054576406849957550","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: enter the room\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward Q: immediate next step? \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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room 2- Move towards the white snack bags 3- Pick the white snack bag 4- Exit the room 5- Drive forward\n\u003c/PRED\u003e","video":"10336805146028891739.mp4"}
+{"uid":"3246483253115472989","text":"\u003ctask:success:discrete:False\u003e\nDrive forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete: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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drive forward 2- Enter the room 3- Move towards the wooden racks 4- Move towards the white snack bags 5- Pick the white snack bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrive forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e","video":"13424730809847897113.mp4"}
+{"uid":"12131907664213833920","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks Q: immediate next step? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the white 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 white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the white packet 2- Drive forward 3- Go straight 4- Enter the meeting room 5- Go to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e","video":"7653959246149224208.mp4"}
+{"uid":"14090354361572783129","text":"\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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: exit the room\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please 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","video":"18026954683583773690.mp4"}
+{"uid":"8291502652577597853","text":"\u003ctask:success:discrete:True\u003e\nDrive forward in 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drive forward in hallway\n\u003c/PRED\u003e","video":"7428294352869572102.mp4"}
+{"uid":"18404194725973720549","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move forward in the hallway\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move forward in the hallway\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room Q: immediate next step? \u003cPRED\u003eA: Move forward in the hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move forward in the hallway 2- Enter the room 3- Move towards the wooden racks 4- Move towards the white snack bags 5- Pick the white snack bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Move forward in the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove 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","video":"4582652226831004291.mp4"}
+{"uid":"9462997133304896778","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Move to the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room Q: immediate next step? \u003cPRED\u003eA: Move to the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the shelf 2- Pick the white snack bag 3- Exit the room 4- Drive forward 5- Go straight\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7457680527817251521.mp4"}
+{"uid":"10198086291151202537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7959378450209289099.mp4"}
+{"uid":"17297888387738123653","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14464100772036950258.mp4"}
+{"uid":"6300546773005621930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8545240496107436605.mp4"}
+{"uid":"7421430210065033763","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white snack bag on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table Q: immediate next step? \u003cPRED\u003eA: Place the white snack bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white snack bag on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Place the white snack bag on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white snack bag 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 white snack bag 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 grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white snack bag on the table 2- done\n\u003c/PRED\u003e","video":"15053523253084218371.mp4"}
+{"uid":"3804743736128697887","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the office room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nenter the office 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":"14467066244356317489.mp4"}
+{"uid":"9696110734715199545","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- exit the meeting room 2- Move forward 3- Enter the room 4- Move towards the wooden racks 5- Move towards the white snack bags\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\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: exit the meeting room\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the meeting room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the meeting 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:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: exit the meeting room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the meeting 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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the meeting room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"9973770626395129241.mp4"}
+{"uid":"11747637900816298379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrive 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":"703376196430320253.mp4"}
+{"uid":"14871811432364016704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2724048376718817807.mp4"}
+{"uid":"16151871646525724271","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":"8401114254725710897.mp4"}
+{"uid":"5669274064075310415","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper 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":"6207938584411428010.mp4"}
+{"uid":"14391173757157152572","text":"\u003ctask:success:discrete:True\u003e\nPick the white snack bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the white snack bag\n\u003c/PRED\u003e","video":"4139715609656971654.mp4"}
+{"uid":"12861258528363774443","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the white packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the white 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:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- Place the white packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- Place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"754596997377501371.mp4"}
+{"uid":"7374152379843054970","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward Q: immediate next step? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter the room\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the room 2- Move towards the white snack bags 3- Pick the white snack bag 4- Exit the room 5- Drive forward\n\u003c/PRED\u003e","video":"4872721106133396870.mp4"}
+{"uid":"12512527691812785251","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the wooden racks\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the wooden racks Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the wooden racks Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the wooden racks 2- Move towards the white snack bags 3- Pick the white snack bag 4- Exit the room 5- Drive forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the wooden racks\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room Q: immediate next step? \u003cPRED\u003eA: Move towards the wooden racks\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Move towards the wooden racks\n\u003c/PRED\u003e","video":"3911406210398672599.mp4"}
+{"uid":"7278184879833298899","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the white packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3342998771270572740.mp4"}
+{"uid":"14159789750708762415","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward Q: next 5 steps? \u003cPRED\u003eA: 1- Move forward in the hall way 2- Enter the room 3- Move towards the wooden racks 4- Move towards the white snack bags 5- Pick the white snack bag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Move forward in the hall way\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move forward in the hall way\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward Q: immediate next step? \u003cPRED\u003eA: Move forward in the hall way\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove forward in the hall way Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 forward in the hall way Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move forward in the hall way\n\u003c/PRED\u003e","video":"3388220707165783522.mp4"}
+{"uid":"9033847172761865821","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the white packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the white packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13842911897057190337.mp4"}
+{"uid":"5403565577415840879","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- drop the white packet on the table 14- Move close to the white snack bag Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove close to the white snack bag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- drop the white packet on the table 14- Move close to the white snack bag Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the white snack bag\n\u003c/PRED\u003e","video":"8065702677261799450.mp4"}
+{"uid":"17124182607263302884","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Go straight 3- Enter the meeting room 4- Go to the table 5- drop the white packet on the table\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 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: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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"6935101013842933267.mp4"}
+{"uid":"7392264225300478963","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2056965692580228567.mp4"}
+{"uid":"10302450165660037291","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":"16169212152301142553.mp4"}
+{"uid":"11021628799890607129","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move forward in the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove 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":"4760463311540939115.mp4"}
+{"uid":"836729062393531349","text":"\u003ctask:success:discrete:True\u003e\nMove towards the white snack bags Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the white snack bags\n\u003c/PRED\u003e","video":"527374458183160541.mp4"}
+{"uid":"11325798715526356946","text":"\u003ctask:success:discrete:True\u003e\nEnter the meeting 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: Enter the meeting room\n\u003c/PRED\u003e","video":"10297818876571505648.mp4"}
+{"uid":"7271198754955847937","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room Q: next 5 steps? \u003cPRED\u003eA: 1- Move the snack bag to the table 2- move away from the white packet 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room Q: immediate next step? \u003cPRED\u003eA: Move the snack bag to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the snack bag to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the snack bag to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the snack bag to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the snack bag to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Move the snack bag to the table\n\u003c/PRED\u003e","video":"3780298441982778088.mp4"}
+{"uid":"8843072769320240053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow duck in the white big 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":"5772264766302171982.mp4"}
+{"uid":"7338837626604541836","text":"\u003ctask:success:discrete:True\u003e\nMove towards the pop corn packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the pop corn packet\n\u003c/PRED\u003e","video":"14912079391455988038.mp4"}
+{"uid":"1604102742466787100","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":"14481987107151391758.mp4"}
+{"uid":"2214811202045003165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the plastic glass from the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12995181819002122841.mp4"}
+{"uid":"2607428359995535879","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\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","video":"2920437512338948793.mp4"}
+{"uid":"1273825644585518200","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight Q: immediate next step? \u003cPRED\u003eA: Enter the meeting room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nEnter the meeting 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: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the meeting room 2- Go to the table 3- drop the white packet on the table 4- move away from the white packet 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter the meeting room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nEnter the meeting 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:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Enter the meeting room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter the meeting room\n\u003c/PRED\u003e","video":"15746913784366066502.mp4"}
+{"uid":"644926890575280997","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":"16914384885979326641.mp4"}
+{"uid":"8951027877323652312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the metallic gripper in the stationary 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":"17310496876247261117.mp4"}
+{"uid":"6730293523865496543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace yellow marker inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"16761118992909109490.mp4"}
+{"uid":"4448997450697105261","text":"\u003ctask:success:discrete:True\u003e\nDrive forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e","video":"9468246050245328295.mp4"}
+{"uid":"734520069689368396","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo to the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"298415136454460352.mp4"}
+{"uid":"13011140110974040472","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- drop the white packet on the table 14- move away from the white packet Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove away from the white packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the white packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks 6- Move towards the white snack bags 7- Pick the white snack bag 8- Exit the room 9- Drive forward 10- Go straight 11- Enter the meeting room 12- Go to the table 13- drop the white packet on the table 14- move away from the white packet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8704282605537036056.mp4"}
+{"uid":"12339528320009346371","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the register Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3306251448433982902.mp4"}
+{"uid":"3562080626325545272","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: move towards the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room Q: immediate next step? \u003cPRED\u003eA: move towards the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the rack 2- Move towards the white snack bags 3- Pick the white snack bag 4- Exit the room 5- Drive forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the 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: move towards the rack\n\u003c/PRED\u003e","video":"9298619944925092137.mp4"}
+{"uid":"16977143829757360293","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4747523183896711015.mp4"}
+{"uid":"10636652486267982540","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the pop corn packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the pop corn packet 2- Move towards the white snack bags 3- Pick the white snack bag 4- Exit the room 5- Drive forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: 1- Leave the room 2- Drive forward 3- Move forward 4- Enter the room Q: immediate next step? \u003cPRED\u003eA: Move towards the pop corn packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Move towards the pop corn packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the pop corn packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the pop corn 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\nMove towards the pop corn 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":"11879329454094595707.mp4"}
+{"uid":"132536134433692357","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: none 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: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: can you grab a snack from the mk and leave it on my desk for me please Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\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: can you grab a snack from the mk and leave it on my desk for me please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Drive forward 3- Move forward 4- Enter the room 5- Move towards the wooden racks\n\u003c/PRED\u003e","video":"17260385339927219806.mp4"}
+{"uid":"14236491051234115816","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drive forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrive forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11271326680861706397.mp4"}
+{"uid":"2902900191570519010","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- pick the brown chip packet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- pick the brown chip packet Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brown chip packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the brown chip packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17021411729922200549.mp4"}
+{"uid":"2249797402311017437","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the scissor 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the scissor in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the scissor in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the scissor in the bin 2- drop the brown chip packet in the bin 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin Q: immediate next step? \u003cPRED\u003eA: drop the scissor in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the scissor 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 scissor in the bin\n\u003c/PRED\u003e","video":"9283052461415930292.mp4"}
+{"uid":"10738537823159016749","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8238687389461759095.mp4"}
+{"uid":"14311326685324551197","text":"\u003ctask:success:discrete:True\u003e\nmove your arm close to the scissor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the scissor\n\u003c/PRED\u003e","video":"2834243574060093596.mp4"}
+{"uid":"11496281158590268485","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in the bin 2- drop the scissor in the bin 3- pick the brown chip packet 4- drop the brown chip packet in the bin 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet 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 packet in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the packet in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet 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: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet Q: immediate next step? \u003cPRED\u003eA: drop the packet in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in the bin\n\u003c/PRED\u003e","video":"15846858980418385985.mp4"}
+{"uid":"7449706648155174111","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- drop the scissor in the bin Q: immediate next step? \u003cPRED\u003eA: pick the brown chip packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown chip packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown chip packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the brown chip packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab 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\u003ctask:success:discrete:False\u003e\npick the brown chip packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- drop the scissor in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown chip packet 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brown chip packet\n\u003c/PRED\u003e","video":"6578259272195047079.mp4"}
+{"uid":"353787675460563096","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":"3563736778840712830.mp4"}
+{"uid":"16079855037616377213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the kettle packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6544696386807629496.mp4"}
+{"uid":"210902274135812339","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in the bin 2- drop the scissor in the bin 3- pick the brown chip packet 4- drop the brown chip packet in the bin 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet Q: immediate next step? \u003cPRED\u003eA: drop the packet in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet 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:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the packet in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in the bin\n\u003c/PRED\u003e","video":"6013746162658372828.mp4"}
+{"uid":"4361747751506443684","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":"11027335012875043257.mp4"}
+{"uid":"9261148218039036359","text":"\u003ctask:success:discrete:True\u003e\npick a yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e","video":"4511077216041633038.mp4"}
+{"uid":"8808419794624554308","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8224927402507421962.mp4"}
+{"uid":"11837466921831013140","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the right packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the right packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable Q: next 5 steps? \u003cPRED\u003eA: 1- pick the right packet 2- pick a yellow packet 3- drop the yellow packet in the bin 4- pick the scissor 5- drop the scissor in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the right packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable Q: immediate next step? \u003cPRED\u003eA: pick the right packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the right packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the right packet\n\u003c/PRED\u003e","video":"3499699308620617753.mp4"}
+{"uid":"14283874766817016376","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the scissor 2- drop the tape in the bin 3- touch the orange cable 4- move your arm up 5- pick the orange cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: move your arm close to the scissor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the scissor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the scissor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the scissor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box Q: immediate next step? \u003cPRED\u003eA: move your arm close to the scissor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the scissor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9491646882774104637.mp4"}
+{"uid":"9181726988153002623","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup the numi tea bag 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":"16277051715339693543.mp4"}
+{"uid":"16697302608644935410","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the upper 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":"9879163603896974882.mp4"}
+{"uid":"9897817540054266616","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the scissor in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the scissor in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor Q: immediate next step? \u003cPRED\u003eA: drop the scissor in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the scissor in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the scissor 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: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor Q: next 5 steps? \u003cPRED\u003eA: 1- drop the scissor in the bin 2- drop the brown chip packet in the bin 3- done\n\u003c/PRED\u003e","video":"6918238215687715817.mp4"}
+{"uid":"6683002262981498043","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":"17492502335903143039.mp4"}
+{"uid":"2651664016936565526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack a paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16325737777561016348.mp4"}
+{"uid":"15498958129116531568","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the orange cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the orange cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape Q: immediate next step? \u003cPRED\u003eA: touch the orange cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: touch the orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntouch the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the orange cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape Q: next 5 steps? \u003cPRED\u003eA: 1- touch the orange cable 2- move your arm up 3- pick the orange cable 4- drop the orange cable in the bin 5- move your arm downwards\n\u003c/PRED\u003e","video":"9806258218954344649.mp4"}
+{"uid":"8255328831277722252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace bath toys in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14807108368377407898.mp4"}
+{"uid":"12491421565096463431","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable Q: immediate next step? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange cable 2- move your arm downwards 3- pick the right packet 4- pick a yellow packet 5- drop the yellow packet in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14099535690738555315.mp4"}
+{"uid":"16985430325948247571","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away 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":"3191514743772800458.mp4"}
+{"uid":"5532696132049407517","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange cable 2- drop the orange cable in the bin 3- move your arm downwards 4- pick the right packet 5- pick a yellow packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable Q: immediate next step? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10623828800234723921.mp4"}
+{"uid":"442402539992724564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green 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":"11287921061349835570.mp4"}
+{"uid":"15540399326813631162","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: pick the tissue box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the tissue 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: pick the tissue box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the tissue 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: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the tissue box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the tissue box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- pick the tissue box 2- move your arm downwards 3- pick the tape 4- drop the tape in the bin 5- touch the orange cable\n\u003c/PRED\u003e","video":"13843624680151184860.mp4"}
+{"uid":"5638098475779635960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black date on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3046636313157268157.mp4"}
+{"uid":"11126680115805797137","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange cable in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange cable in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the orange cable in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange cable in the bin 2- move your arm downwards 3- pick the right packet 4- pick a yellow packet 5- drop the yellow packet in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange cable 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:success:discrete:False\u003e\ndrop the orange cable 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up Q: immediate next step? \u003cPRED\u003eA: drop the orange cable in the bin\n\u003c/PRED\u003e","video":"3956944192597970239.mp4"}
+{"uid":"5414846433712716257","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15694938240227225240.mp4"}
+{"uid":"16291815967689252184","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":"3073230518099329662.mp4"}
+{"uid":"5113653467586425512","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- drop the scissor in the bin 17- pick the brown chip packet Q: immediate next step? \u003cPRED\u003eA: drop the brown packet in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown packet in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown packet 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 brown packet in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- drop the scissor in the bin 17- pick the brown chip packet Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown packet in the bin 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown packet 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:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the brown packet in the bin\n\u003c/PRED\u003e","video":"9180597906244244440.mp4"}
+{"uid":"7504329518658909028","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown chip packet 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brown chip packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown chip packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the brown chip packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brown chip packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor Q: immediate next step? \u003cPRED\u003eA: pick the brown chip packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown chip 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":"16772948002159273035.mp4"}
+{"uid":"13728287696031712250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace knives on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14175674420278904293.mp4"}
+{"uid":"16174836065164945087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"15735052822857991590.mp4"}
+{"uid":"4609524526611321982","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12428363102904161841.mp4"}
+{"uid":"16901926734510877763","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick the scissor 2- drop the scissor in the bin 3- pick the brown chip packet 4- drop the brown chip packet in the bin 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the scissor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet Q: immediate next step? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the scissor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e","video":"2559264238220715655.mp4"}
+{"uid":"4344208416081449363","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the right packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the right packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13274224050537537670.mp4"}
+{"uid":"2449349014519863490","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4198728466195538719.mp4"}
+{"uid":"16901085657229315212","text":"\u003ctask:success:discrete:False\u003e\npick the tape Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- pick the tape 2- touch the orange cable 3- move your arm up 4- pick the orange cable 5- drop the orange cable in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the tape Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e","video":"2609843065263165266.mp4"}
+{"uid":"3579798342110980091","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the tissue box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the tissue box 2- drop the tissue box in the bin 3- move your arm downwards 4- pick the tape 5- drop the tape in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the tissue box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the tissue 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: pick the tissue box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the tissue box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the tissue 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":"2621639428788473073.mp4"}
+{"uid":"9548653589970635254","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring me some fruit to my table Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me some fruit to my table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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:discriminative:discrete:True\u003e\nplace the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me some fruit to my table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e","video":"6134065243401672659.mp4"}
+{"uid":"7408121897634977756","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the right packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin Q: immediate next step? \u003cPRED\u003eA: pick the right packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick the right packet 2- pick a yellow packet 3- drop the yellow packet in the bin 4- pick the scissor 5- drop the scissor in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the right packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the right packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the right packet\n\u003c/PRED\u003e","video":"3773916787585131775.mp4"}
+{"uid":"4989475032003528743","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm downwards 2- pick a yellow packet 3- drop the yellow packet in the bin 4- pick the scissor 5- drop the scissor in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e","video":"13682666633828404532.mp4"}
+{"uid":"11358752969012872533","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm down\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"224644263171128034.mp4"}
+{"uid":"12444960001851504898","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box Q: immediate next step? \u003cPRED\u003eA: drop the tissue box in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tissue box in the bin 2- pick the tape 3- drop the tape in the bin 4- touch the orange cable 5- move your arm up\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tissue box in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the tissue box in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tissue box in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tissue box 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":"3924094084437837888.mp4"}
+{"uid":"7551335098381101627","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- pick the tape 2- touch the orange cable 3- move your arm up 4- pick the orange cable 5- drop the orange cable in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the tape Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 tape\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e","video":"17190360154781180242.mp4"}
+{"uid":"14125115978415522393","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green glass 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":"10027186263330787316.mp4"}
+{"uid":"8831770155512314447","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":"1566318351308158113.mp4"}
+{"uid":"8650592858040457879","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable Q: immediate next step? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm up 2- drop the orange cable in the bin 3- move your arm downwards 4- pick the right packet 5- pick a yellow packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12007337104768123931.mp4"}
+{"uid":"17539232488744357347","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange cable 2- move your arm downwards 3- pick the right packet 4- pick a yellow packet 5- drop the yellow packet in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up Q: immediate next step? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e","video":"16697106356402281881.mp4"}
+{"uid":"9285347522610568693","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2652124176820807742.mp4"}
+{"uid":"17644701396105859623","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":"2546182458688181730.mp4"}
+{"uid":"14850085107650310006","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput invisible tape 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":"2332256155941202159.mp4"}
+{"uid":"3748045301270858154","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":"17650204301967882679.mp4"}
+{"uid":"8262089223418575038","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin Q: immediate next step? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick a yellow packet 2- pick a yellow packet 3- drop the yellow packet in the bin 4- pick the scissor 5- drop the scissor in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e","video":"10132819816067061504.mp4"}
+{"uid":"7825931032343668794","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up Q: immediate next step? \u003cPRED\u003eA: drop the orange cable in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange cable in the bin 2- pick the right packet 3- pick a yellow packet 4- drop the yellow packet in the bin 5- pick the scissor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange cable in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange cable 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 orange cable 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange cable in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the orange cable in the bin\n\u003c/PRED\u003e","video":"1090689501286187939.mp4"}
+{"uid":"13865052791268543274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"18148303106316999325.mp4"}
+{"uid":"11237809478473914667","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: touch the orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntouch the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"648541587425183360.mp4"}
+{"uid":"8538821328362556506","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick the scissor 2- pick the brown chip packet 3- drop the brown chip packet in the bin 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin Q: immediate next step? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the scissor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8330632333536863529.mp4"}
+{"uid":"11837669777899468764","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":"6894904090706132206.mp4"}
+{"uid":"18330358947243736552","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the tape Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17130597574010016755.mp4"}
+{"uid":"15785290439789136677","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet Q: immediate next step? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick a yellow packet 2- pick the scissor 3- drop the scissor in the bin 4- pick the brown chip packet 5- drop the brown chip packet in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a yellow 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":"10656071249042430365.mp4"}
+{"uid":"1483994214737172085","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tissue box in the bin 2- move your arm downwards 3- pick the tape 4- drop the tape in the bin 5- touch the orange cable\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tissue box in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the tissue box in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: drop the tissue box in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the tissue box 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 tissue box in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tissue box 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":"17971854760918264455.mp4"}
+{"uid":"11595537418081312936","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick a yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet Q: immediate next step? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick a yellow packet 2- pick the scissor 3- drop the scissor in the bin 4- pick the brown chip packet 5- drop the brown chip packet in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e","video":"5407697677718035833.mp4"}
+{"uid":"12470661135465092903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the  yellow 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":"13541657590610354280.mp4"}
+{"uid":"2630544181910063651","text":"\u003ctask:success:discrete:False\u003e\ndrop the yellow packet 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 yellow packet 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:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow packet in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow packet in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow packet in the bin 2- drop the scissor in the bin 3- pick the brown chip packet 4- drop the brown chip packet in the bin 5- done\n\u003c/PRED\u003e","video":"10998662044236714341.mp4"}
+{"uid":"4734084129716654431","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tape in the bin 2- move your arm up 3- pick the orange cable 4- drop the orange cable in the bin 5- move your arm downwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the tape in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the tape 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 tape in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tape in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tape 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: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: drop the tape in the bin\n\u003c/PRED\u003e","video":"5367805617098125063.mp4"}
+{"uid":"14472994833223356434","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":"3639785742487020318.mp4"}
+{"uid":"2722801619821267682","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the tape Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- pick the tape 2- touch the orange cable 3- move your arm up 4- pick the orange cable 5- drop the orange cable in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e","video":"4097939921610772208.mp4"}
+{"uid":"16403636048610580807","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the tape Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4171331146070717333.mp4"}
+{"uid":"1147111059604995996","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm downwards 2- drop the tissue box in the bin 3- move your arm downwards 4- pick the tape 5- drop the tape in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12810896473939944642.mp4"}
+{"uid":"17339808292854430778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"17590823197852236638.mp4"}
+{"uid":"10993905446612008394","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tape 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: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tape in the bin 2- move your arm up 3- pick the orange cable 4- drop the orange cable in the bin 5- move your arm downwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the tape in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tape in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tape in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape Q: immediate next step? \u003cPRED\u003eA: drop the tape in the bin\n\u003c/PRED\u003e","video":"16984560823497946760.mp4"}
+{"uid":"12395712194726071692","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm downwards 2- drop the tissue box in the bin 3- move your arm downwards 4- pick the tape 5- drop the tape in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e","video":"10150510538579339868.mp4"}
+{"uid":"18013460839393450421","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- grab the orange cable 2- pick the orange cable 3- drop the orange cable in the bin 4- move your arm downwards 5- pick the right packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin Q: immediate next step? \u003cPRED\u003eA: grab the orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the orange cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the orange cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: grab the orange cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the orange cable\n\u003c/PRED\u003e","video":"278443616836759828.mp4"}
+{"uid":"7773107284485425724","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the orange cable in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up Q: immediate next step? \u003cPRED\u003eA: drop the orange cable in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange cable in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange cable 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: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange cable in the bin 2- pick the right packet 3- pick a yellow packet 4- drop the yellow packet in the bin 5- pick the scissor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange cable in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange cable 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":"15455690764102992209.mp4"}
+{"uid":"16812193793635305359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the right stack on the left 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":"6234376221615035068.mp4"}
+{"uid":"5599092114945396653","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPour the pistachio in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"451652820559309167.mp4"}
+{"uid":"15381310435527450934","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":"15815718735037874224.mp4"}
+{"uid":"18215149820690018756","text":"\u003ctask:success:discrete:True\u003e\npick a yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e","video":"282331660001329572.mp4"}
+{"uid":"11225835302977139207","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- drop the scissor in the bin Q: immediate next step? \u003cPRED\u003eA: drop the brown chip packet in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown chip packet 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:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the brown chip packet in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- drop the scissor in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown chip packet in the bin 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown chip packet 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 brown chip packet in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown chip packet in the bin\n\u003c/PRED\u003e","video":"7157545360280920880.mp4"}
+{"uid":"4647941329652222042","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":"9543008872349554321.mp4"}
+{"uid":"2819566746652194651","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana 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":"13983065009678964265.mp4"}
+{"uid":"4959073044186786635","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3374955150276806786.mp4"}
+{"uid":"11196877520225455483","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":"9052027349355202864.mp4"}
+{"uid":"11549577593544146370","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bowl 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":"14132787078754716720.mp4"}
+{"uid":"10689024820564273195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17147236818279483644.mp4"}
+{"uid":"2913928320150670570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18317670308128973697.mp4"}
+{"uid":"15430727612263154220","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the scissor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick the scissor 2- pick the brown chip packet 3- drop the brown chip packet in the bin 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the scissor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 scissor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet Q: immediate next step? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e","video":"17610391166751250987.mp4"}
+{"uid":"18238665985860738159","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick a yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18091434136550556043.mp4"}
+{"uid":"14362913242008978564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12823242688157287768.mp4"}
+{"uid":"15469703817227987299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"1679167980046130470.mp4"}
+{"uid":"11123288301754096778","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown chip packet 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown chip packet in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- drop the scissor in the bin 17- pick the brown chip packet Q: immediate next step? \u003cPRED\u003eA: drop the brown chip packet in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown chip packet in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the brown chip packet in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- drop the scissor in the bin 17- pick the brown chip packet Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown chip packet in the bin 2- done\n\u003c/PRED\u003e","video":"11720291990255634070.mp4"}
+{"uid":"3026701957800709159","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":"3833920292667459190.mp4"}
+{"uid":"9229193681183964900","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17610942600785166528.mp4"}
+{"uid":"15220842209848679856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4588007304462580716.mp4"}
+{"uid":"9730082632269343703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"754095040245553142.mp4"}
+{"uid":"15352495278977178636","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop brown bag to the right bowl from the first 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":"1363972031277539411.mp4"}
+{"uid":"14308067470210410641","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the orange 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":"16786185888498264320.mp4"}
+{"uid":"17875351606000959346","text":"\u003ctask:success:discrete:True\u003e\npick the scissor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e","video":"8219216064880101890.mp4"}
+{"uid":"8274474928443439666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the duster in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7417432796902082194.mp4"}
+{"uid":"1723174712544760753","text":"\u003ctask:success:discrete:False\u003e\nmove your arm down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm down\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm down 2- drop the tape in the bin 3- touch the orange cable 4- move your arm up 5- pick the orange cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: move your arm down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box Q: immediate next step? \u003cPRED\u003eA: move your arm down\n\u003c/PRED\u003e","video":"14923395217456561357.mp4"}
+{"uid":"8241371657984708666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky note 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":"1652289036362325915.mp4"}
+{"uid":"13183561831166199944","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the brown chip packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brown chip packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- drop the scissor in the bin 17- pick the brown chip packet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- drop the scissor in the bin 17- pick the brown chip packet Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15794852826036947283.mp4"}
+{"uid":"5018196558586734004","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brown packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- drop the scissor in the bin Q: immediate next step? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- drop the scissor in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown packet 2- done\n\u003c/PRED\u003e","video":"14971816496620607736.mp4"}
+{"uid":"15015202495933308241","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick up the tissue box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tissue box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tissue box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tissue 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: pick up items from floor and place in green bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tissue box 2- drop the tissue box in the bin 3- move your arm downwards 4- pick the tape 5- drop the tape in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the tissue box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the tissue 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":"11604975293965922325.mp4"}
+{"uid":"16892384359963842507","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick a yellow packet 2- drop the yellow packet in the bin 3- pick the scissor 4- drop the scissor in the bin 5- pick the brown chip packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet Q: immediate next step? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e","video":"16493833929116341360.mp4"}
+{"uid":"772002704615490438","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the tape\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the tape Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13930266140137238992.mp4"}
+{"uid":"429191956780239066","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10885821875468719215.mp4"}
+{"uid":"12305802523463620556","text":"\u003ctask:success:discrete:True\u003e\npick the scissor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e","video":"18074392794086550309.mp4"}
+{"uid":"12277269526314940022","text":"\u003ctask:success:discrete:True\u003e\nplace the banana 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 bring me some fruit to my table. last 20 steps: 1- place the banana 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 bring me some fruit to my table. last 20 steps: 1- place the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring me some fruit to my table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e","video":"10119609260114897166.mp4"}
+{"uid":"14572205495576757879","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brown packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- drop the scissor in the bin 17- pick the brown packet Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin 15- pick the scissor 16- drop the scissor in the bin 17- pick the brown packet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the brown packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17494882508951600258.mp4"}
+{"uid":"5376901016122812774","text":"\u003ctask:success:discrete:True\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e","video":"11543411137677823251.mp4"}
+{"uid":"9383361882120302412","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm downwards 2- pick the tape 3- drop the tape in the bin 4- touch the orange cable 5- move your arm up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14513407170029082662.mp4"}
+{"uid":"14345562957796189828","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: touch the orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntouch the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9777579038215639772.mp4"}
+{"uid":"8111430239851823985","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8623023876309548091.mp4"}
+{"uid":"16970794865787234811","text":"\u003ctask:success:discrete:True\u003e\npick the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the orange cable\n\u003c/PRED\u003e","video":"3048116784225836721.mp4"}
+{"uid":"7274250904627839126","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the tape in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tape in the bin 2- move your arm up 3- pick the orange cable 4- drop the orange cable in the bin 5- move your arm downwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape Q: immediate next step? \u003cPRED\u003eA: drop the tape in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tape in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tape in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tape 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":"14745279174215541401.mp4"}
+{"uid":"8136038577288542558","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the scissor in the bin 2- drop the brown chip packet in the bin 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the scissor in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the scissor 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: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape 6- drop the tape in the bin 7- touch the orange cable 8- move your arm up 9- pick the orange cable 10- drop the orange cable in the bin 11- move your arm downwards 12- pick the right packet 13- pick a yellow packet 14- drop the yellow packet in the bin Q: immediate next step? \u003cPRED\u003eA: drop the scissor in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the scissor in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the scissor 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 scissor in the bin\n\u003c/PRED\u003e","video":"11726796223372847935.mp4"}
+{"uid":"1944334526855561331","text":"\u003ctask:success:discrete:True\u003e\nmove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e","video":"16161133207908787706.mp4"}
+{"uid":"9369156541171206488","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box Q: immediate next step? \u003cPRED\u003eA: drop the tissue box in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tissue box in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tissue box 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: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tissue box in the bin 2- pick the tape 3- drop the tape in the bin 4- touch the orange cable 5- move your arm up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tissue box in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: drop the tissue box in the bin\n\u003c/PRED\u003e","video":"7277411483176763651.mp4"}
+{"uid":"2581120247057318633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1928246275721267984.mp4"}
+{"uid":"3577380377713165108","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the orange cable\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the orange cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape Q: next 5 steps? \u003cPRED\u003eA: 1- touch the orange cable 2- move your arm up 3- pick the orange cable 4- drop the orange cable in the bin 5- move your arm downwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the orange cable Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. Q: immediate next step? \u003cPRED\u003eA: touch the orange cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up items from floor and place in green bin. last 20 steps: 1- move your arm downwards 2- pick the tissue box 3- drop the tissue box in the bin 4- move your arm downwards 5- pick the tape Q: immediate next step? \u003cPRED\u003eA: touch the orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntouch the orange cable Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2758280965242122966.mp4"}
+{"uid":"9246124420053258558","text":"\u003ctask:success:discrete:True\u003e\npick the right packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the right packet\n\u003c/PRED\u003e","video":"5220930132224890910.mp4"}
+{"uid":"13500247336178625829","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a yellow packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick a yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2260122784961656748.mp4"}
+{"uid":"1908756397476413728","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"10233853702885295078.mp4"}
+{"uid":"17205004667902531635","text":"\u003ctask:success:discrete:True\u003e\npick the scissor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e","video":"10980891973451046690.mp4"}
+{"uid":"15557552809937172300","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12280624681322098076.mp4"}
+{"uid":"14844511083248556682","text":"\u003ctask:success:discrete:False\u003e\nturn right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right Q: next 5 steps? \u003cPRED\u003eA: 1- turn right 2- Move your arm downwards 3- Move back 4- Move your arm downwards 5- Grab the yellow trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place garbage bin upright Q: immediate next step? \u003cPRED\u003eA: turn right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nturn right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right Q: immediate next step? \u003cPRED\u003eA: turn right\n\u003c/PRED\u003e","video":"16842557692636337524.mp4"}
+{"uid":"2497154115515222063","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the cup at the edge of table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the cup at the edge of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18428838646012821526.mp4"}
+{"uid":"10081473091835653934","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place garbage bin upright Q: immediate next step? \u003cPRED\u003eA: Pick the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick 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:discriminative:discrete:True\u003e\nPick the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18089153988982718666.mp4"}
+{"uid":"5037683174998355745","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the black object on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the black object on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14763325254262440209.mp4"}
+{"uid":"3058528581664631815","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop orange into 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":"14829247170415559663.mp4"}
+{"uid":"13368013370865151102","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15623289769502544931.mp4"}
+{"uid":"5639144343011315294","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":"2205224463949856795.mp4"}
+{"uid":"14064687642194485236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate crunch in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8905135214469496848.mp4"}
+{"uid":"9069675301315898357","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards Q: immediate next step? \u003cPRED\u003eA: Move back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- Move back 2- Move your arm downwards 3- Grab the yellow trash bin 4- Pick up the trash bin 5- Move your arm down\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place garbage bin upright Q: immediate next step? \u003cPRED\u003eA: Move back\n\u003c/PRED\u003e","video":"15421053799668114910.mp4"}
+{"uid":"4444227394918872001","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to 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":"15259098633310000774.mp4"}
+{"uid":"16318649187187431247","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the forks in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3116583881733536539.mp4"}
+{"uid":"8726015031776133404","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: place white paper glass in the near the edge of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table Q: next 5 steps? \u003cPRED\u003eA: 1- place white paper glass in the near the edge of the table 2- slide the green cup towards left 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white paper glass in the near the edge of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white paper glass in the near the 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: place white paper glass in the near the edge of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table Q: immediate next step? \u003cPRED\u003eA: place white paper glass in the near the edge of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace white paper glass in the near the 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","video":"1369352979077498994.mp4"}
+{"uid":"4297818035474205716","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: slide the cup towards left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slide the cup towards left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left Q: next 5 steps? \u003cPRED\u003eA: 1- slide the cup towards left 2- move the sticker cup at the edge of table 3- slide the green cup towards left 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slide the cup towards left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left Q: immediate next step? \u003cPRED\u003eA: slide the cup towards left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslide the cup towards left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4675692579346000993.mp4"}
+{"uid":"18062765560859045815","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2578743629010023474.mp4"}
+{"uid":"249581685570624113","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm downwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm downwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back Q: immediate next step? \u003cPRED\u003eA: Move your arm downwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm downwards 2- Grab the yellow trash bin 3- Pick up the trash bin 4- Move your arm down 5- Drop the black object on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place garbage bin upright Q: immediate next step? \u003cPRED\u003eA: Move your arm downwards\n\u003c/PRED\u003e","video":"3123935233110734028.mp4"}
+{"uid":"5182442611679593756","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green glass near the edge of table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left 4- move the sticker cup at the edge of table Q: next 5 steps? \u003cPRED\u003eA: 1- place the green glass near the edge of table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green glass near the edge of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left 4- move the sticker cup at the edge of table Q: immediate next step? \u003cPRED\u003eA: place the green glass near the edge of table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green glass near the edge of table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: place the green glass near the edge of table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green glass near the edge of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4727096898764300640.mp4"}
+{"uid":"3601703712441942665","text":"\u003ctask:success:discrete:False\u003e\nslide the cup towards left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: slide the cup towards left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- slide the cup towards left 2- slide the cup towards left 3- move the sticker cup at the edge of table 4- slide the green cup towards left 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slide the cup towards left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: slide the cup towards left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslide the cup towards left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slide the cup towards left\n\u003c/PRED\u003e","video":"2033482206772828744.mp4"}
+{"uid":"17356326900338550801","text":"\u003ctask:success:discrete:True\u003e\nMove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm downwards\n\u003c/PRED\u003e","video":"11279338848100433610.mp4"}
+{"uid":"619181266965458725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper chit 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":"9735599546591314101.mp4"}
+{"uid":"13620993683530797373","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the green glass near the edge of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left 4- move the sticker cup at the edge of table 5- place the green glass near the edge of table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the green glass near the edge of table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left 4- move the sticker cup at the edge of table 5- place the green glass near the edge of table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9591722571609353592.mp4"}
+{"uid":"7444683452792744024","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left Q: immediate next step? \u003cPRED\u003eA: move the sticker cup at the edge of table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the sticker cup at the edge of table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left Q: next 5 steps? \u003cPRED\u003eA: 1- move the sticker cup at the edge of table 2- slide the green cup towards left 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the sticker cup at the edge of table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the sticker cup at the edge of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: move the sticker cup at the edge of table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the sticker cup at the edge of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12523959846341433651.mp4"}
+{"uid":"1257811822894185688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17340372405398581433.mp4"}
+{"uid":"4738570762474847013","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":"16527740142370094384.mp4"}
+{"uid":"7219430334665964064","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRelease 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":"10846097514530762953.mp4"}
+{"uid":"1612634015969070751","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":"16572525006689796558.mp4"}
+{"uid":"6603354579960189501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the green house plant to the bottom 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":"17698112763730877596.mp4"}
+{"uid":"16255704362538592123","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up 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: place garbage bin upright Q: immediate next step? \u003cPRED\u003eA: Pick up the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back 8- Move your arm downwards 9- Grab the yellow trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the trash bin 2- Move your arm down 3- Drop the black object on the floor 4- Move your arm upwards 5- Move your arm back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back 8- Move your arm downwards 9- Grab the yellow trash bin Q: immediate next step? \u003cPRED\u003eA: Pick up the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up 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","video":"7084050258492392703.mp4"}
+{"uid":"11630377659977928141","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left Q: immediate next step? \u003cPRED\u003eA: slide the cup towards left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslide the cup towards left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: slide the cup towards left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slide the cup towards left\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slide the cup towards left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslide the cup towards left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left Q: next 5 steps? \u003cPRED\u003eA: 1- slide the cup towards left 2- slide the green cup towards left 3- done\n\u003c/PRED\u003e","video":"18044436335328750031.mp4"}
+{"uid":"18387117026842396821","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm 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","video":"16773623759707450671.mp4"}
+{"uid":"12704905688018236909","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back 8- Move your arm downwards 9- Grab the yellow trash bin 10- Pick up the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm down 2- Drop the black object on the floor 3- Move your arm upwards 4- Move your arm back 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm down\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm down\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back 8- Move your arm downwards 9- Grab the yellow trash bin 10- Pick up the trash bin Q: immediate next step? \u003cPRED\u003eA: Move your arm down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place garbage bin upright Q: immediate next step? \u003cPRED\u003eA: Move your arm down\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8781379432313376596.mp4"}
+{"uid":"5815875514688774599","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left 4- move the sticker cup at the edge of table Q: next 5 steps? \u003cPRED\u003eA: 1- slide the green cup towards left 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left 4- move the sticker cup at the edge of table Q: immediate next step? \u003cPRED\u003eA: slide the green cup towards left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: slide the green cup towards left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslide the green cup towards left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slide the green cup towards left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slide the green cup towards left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslide the green cup towards left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6552443528664873340.mp4"}
+{"uid":"1539479927149532665","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10091727712288761841.mp4"}
+{"uid":"18383431348146278613","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move the cup at the edge of table 2- slide the cup towards left 3- move the sticker cup at the edge of table 4- slide the green cup towards left 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move the cup at the edge of table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the cup at the edge of table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the cup at the edge of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: move the cup at the edge of table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the cup at the edge of table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the cup at the edge of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6061978233051484300.mp4"}
+{"uid":"4360633689698700806","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":"555385637165685351.mp4"}
+{"uid":"10091181190949793665","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up 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":"14737350548466168172.mp4"}
+{"uid":"17748240576510939446","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":"5702987843790768206.mp4"}
+{"uid":"13358969603441804455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3418754484403545579.mp4"}
+{"uid":"5744951862974940458","text":"\u003ctask:success:discrete:True\u003e\nmove the sticker cup at the edge of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the sticker cup at the edge of table\n\u003c/PRED\u003e","video":"17395598647532271951.mp4"}
+{"uid":"17688274839871917658","text":"\u003ctask:success:discrete:False\u003e\nMove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place garbage bin upright Q: immediate next step? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back 8- Move your arm downwards 9- Grab the yellow trash bin 10- Pick up the trash bin 11- Move your arm down 12- Drop the black object on the floor 13- Move your arm upwards Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm back 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back 8- Move your arm downwards 9- Grab the yellow trash bin 10- Pick up the trash bin 11- Move your arm down 12- Drop the black object on the floor 13- Move your arm upwards Q: immediate next step? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e","video":"5235830516154558891.mp4"}
+{"uid":"16281315218248386997","text":"\u003ctask:success:discrete:False\u003e\nMove your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place garbage bin upright Q: immediate next step? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back 8- Move your arm downwards 9- Grab the yellow trash bin 10- Pick up the trash bin 11- Move your arm down 12- Drop the black object on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm upwards 2- Move your arm back 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back 8- Move your arm downwards 9- Grab the yellow trash bin 10- Pick up the trash bin 11- Move your arm down 12- Drop the black object on the floor Q: immediate next step? \u003cPRED\u003eA: Move your arm upwards\n\u003c/PRED\u003e","video":"6446772669616431550.mp4"}
+{"uid":"8022575379101373451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"1463255421435492936.mp4"}
+{"uid":"10988771414499804520","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- Move the trash bin to the right 2- Turn left 3- turn right 4- Move your arm downwards 5- Move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the trash bin to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place garbage bin upright Q: immediate next step? \u003cPRED\u003eA: Move the trash bin to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin Q: immediate next step? \u003cPRED\u003eA: Move the trash bin to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the trash bin to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the trash bin to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the trash bin to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15831134137684976547.mp4"}
+{"uid":"10548736490725288626","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":"7134257264396368217.mp4"}
+{"uid":"15895368914375290037","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm downwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm downwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place garbage bin upright Q: immediate next step? \u003cPRED\u003eA: Move your arm downwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right Q: immediate next step? \u003cPRED\u003eA: Move your arm downwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm downwards 2- Move back 3- Move your arm downwards 4- Grab the yellow trash bin 5- Pick up the trash bin\n\u003c/PRED\u003e","video":"17728160069756562963.mp4"}
+{"uid":"5904081383438106007","text":"\u003ctask:success:discrete:True\u003e\nGrab the yellow 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: Grab the yellow trash bin\n\u003c/PRED\u003e","video":"18329815437866713216.mp4"}
+{"uid":"3878017471531028699","text":"\u003ctask:success:discrete:True\u003e\nMove your arm back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place garbage bin upright Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back 8- Move your arm downwards 9- Grab the yellow trash bin 10- Pick up the trash bin 11- Move your arm down 12- Drop the black object on the floor 13- Move your arm upwards 14- Move your arm back Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back 8- Move your arm downwards 9- Grab the yellow trash bin 10- Pick up the trash bin 11- Move your arm down 12- Drop the black object on the floor 13- Move your arm upwards 14- Move your arm back Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e","video":"13722514109789385939.mp4"}
+{"uid":"16349149622503045692","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place garbage bin upright Q: immediate next step? \u003cPRED\u003eA: Drop the black object on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the black object on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the black object on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the black object on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back 8- Move your arm downwards 9- Grab the yellow trash bin 10- Pick up the trash bin 11- Move your arm down Q: immediate next step? \u003cPRED\u003eA: Drop the black object on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back 8- Move your arm downwards 9- Grab the yellow trash bin 10- Pick up the trash bin 11- Move your arm down Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the black object on the floor 2- Move your arm upwards 3- Move your arm back 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the black object on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6625628087817757413.mp4"}
+{"uid":"3591947701592693112","text":"\u003ctask:success:discrete:True\u003e\nslide the green cup towards left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slide the green cup towards left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left 4- move the sticker cup at the edge of table 5- slide the green cup towards left Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left 4- move the sticker cup at the edge of table 5- slide the green cup towards left Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6213495718068260913.mp4"}
+{"uid":"15828147994534054282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"9120482803641728214.mp4"}
+{"uid":"10078760647321840404","text":"\u003ctask:success:discrete:True\u003e\nMove the trash bin to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the trash bin to the right\n\u003c/PRED\u003e","video":"5588886173607804715.mp4"}
+{"uid":"5340844565918888638","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticker glass near the edge of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticker glass near the edge of table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticker glass near the edge of table 2- slide the green cup towards left 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticker glass near the edge of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: place the sticker glass near the edge of table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left Q: immediate next step? \u003cPRED\u003eA: place the sticker glass near the edge of table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticker glass near the edge of table\n\u003c/PRED\u003e","video":"7629792183689066189.mp4"}
+{"uid":"18350409909422772072","text":"\u003ctask:success:discrete:True\u003e\nmove the green cup at the edge of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the green cup at the edge of table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left 4- move the sticker cup at the edge of table 5- move the green cup at the edge of table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left 4- move the sticker cup at the edge of table 5- move the green cup at the edge of table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14302246421705317574.mp4"}
+{"uid":"15502324227154990843","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place garbage bin upright Q: immediate next step? \u003cPRED\u003eA: Release the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease 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\nRelease the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin Q: immediate next step? \u003cPRED\u003eA: Release the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- Release the trash bin 2- Move the trash bin to the right 3- Turn left 4- turn right 5- Move your arm downwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the trash bin\n\u003c/PRED\u003e","video":"3751090789479654287.mp4"}
+{"uid":"13069453666427472637","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":"677479350200668479.mp4"}
+{"uid":"1456258717647981553","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sticker glass near the edge of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the sticker glass near the 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":"5010999500855014562.mp4"}
+{"uid":"11722550887487700247","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the sticker cup at the edge of table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the sticker cup at the edge of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9428474430616638308.mp4"}
+{"uid":"12542889402623286395","text":"\u003ctask:success:discrete:True\u003e\nslide the cup towards left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slide the cup towards left\n\u003c/PRED\u003e","video":"11136814214395786550.mp4"}
+{"uid":"16274520227729436354","text":"\u003ctask:success:discrete:False\u003e\nmove the sticker cup at the edge of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the sticker cup at the edge of table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the sticker cup at the edge of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the sticker cup at the edge of table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move the sticker cup at the edge of table 2- slide the cup towards left 3- slide the cup towards left 4- move the sticker cup at the edge of table 5- slide the green cup towards left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move the sticker cup at the edge of table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: move the sticker cup at the edge of table\n\u003c/PRED\u003e","video":"17448948429702959698.mp4"}
+{"uid":"11699763102924685112","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sticker glass near the edge of table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the sticker glass near the edge of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2823110922971099428.mp4"}
+{"uid":"15708471224798051489","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back 8- Move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the yellow trash bin 2- Pick up the trash bin 3- Move your arm down 4- Drop the black object on the floor 5- Move your arm upwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place garbage bin upright Q: immediate next step? \u003cPRED\u003eA: Grab the yellow trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right 4- Turn left 5- turn right 6- Move your arm downwards 7- Move back 8- Move your arm downwards Q: immediate next step? \u003cPRED\u003eA: Grab the yellow trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the yellow trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the yellow trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the yellow 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\nGrab the yellow 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","video":"1836917391143839508.mp4"}
+{"uid":"11984277777132229251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet 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":"13116570929377452177.mp4"}
+{"uid":"5172637014243034176","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: slide cup towards left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nslide cup towards left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: slide cup towards left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: slide cup towards left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- slide cup towards left 2- slide the cup towards left 3- slide the cup towards left 4- move the sticker cup at the edge of table 5- slide the green cup towards left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nslide cup towards left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: slide cup towards left\n\u003c/PRED\u003e","video":"15248555244657016626.mp4"}
+{"uid":"10516554423675203679","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":"18174673035040334709.mp4"}
+{"uid":"13914969980462909214","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":"15379524544446478283.mp4"}
+{"uid":"6192820395683293382","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move back\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11739818737274232615.mp4"}
+{"uid":"3499979785942152866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10826807846816968455.mp4"}
+{"uid":"58013268200834760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18242467929578886657.mp4"}
+{"uid":"2861781908499440913","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: place the sticker glass near the edge of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticker glass near the edge of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the sticker glass near the edge of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- move the sticker cup at the edge of table 4- slide the green cup towards left 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticker glass near the 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:success:discrete:False\u003e\nplace the sticker glass near the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticker glass near the edge of the table\n\u003c/PRED\u003e","video":"7700981426718458699.mp4"}
+{"uid":"7804682558046626603","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: slide cup towards left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nslide cup towards left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3140703349173213865.mp4"}
+{"uid":"5204381586270771268","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the green cup at the edge of table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the green cup at the edge of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left 4- move the sticker cup at the edge of table Q: next 5 steps? \u003cPRED\u003eA: 1- move the green cup at the edge of table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the green cup at the edge of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. last 20 steps: 1- place the sticker glass near the edge of the table 2- slide the cup towards left 3- slide the cup towards left 4- move the sticker cup at the edge of table Q: immediate next step? \u003cPRED\u003eA: move the green cup at the edge of table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the green cup at the edge of table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the cups in a horizontal line with the green cup at the right most spot. Q: immediate next step? \u003cPRED\u003eA: move the green cup at the edge of table\n\u003c/PRED\u003e","video":"401809335988129358.mp4"}
+{"uid":"6814725852296234827","text":"\u003ctask:success:discrete:True\u003e\nplace white paper glass in the near the 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place white paper glass in the near the edge of the table\n\u003c/PRED\u003e","video":"10704970222102243772.mp4"}
+{"uid":"2780616474480353625","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the nut 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":"12479512157747109286.mp4"}
+{"uid":"13051976853665980782","text":"\u003ctask:success:discrete:True\u003e\nPick 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: Pick the trash bin\n\u003c/PRED\u003e","video":"7024933912661457696.mp4"}
+{"uid":"9479206620398792069","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the cylindrical 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":"6861710865237838070.mp4"}
+{"uid":"16322091451169027867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1149621214474672223.mp4"}
+{"uid":"18085688719011588310","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place garbage bin upright Q: immediate next step? \u003cPRED\u003eA: Turn left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTurn left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Turn left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right Q: immediate next step? \u003cPRED\u003eA: Turn left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTurn left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Turn left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place garbage bin upright. last 20 steps: 1- Pick the trash bin 2- Release the trash bin 3- Move the trash bin to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Turn left 2- Move your arm downwards 3- Move back 4- Move your arm downwards 5- Grab the yellow trash bin\n\u003c/PRED\u003e","video":"7614954771185004096.mp4"}
+{"uid":"10398187690821108718","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab a white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"466812545900360369.mp4"}
+{"uid":"679638863682839511","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11103707106553246304.mp4"}
+{"uid":"230466391453389170","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray 11- put cold brew can in the tray 12- put the blue can in the container 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 can in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue can in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray 11- put cold brew can in the tray 12- put the blue can in the container Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5147839113052777894.mp4"}
+{"uid":"7260383028360522094","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":"16673383008626636338.mp4"}
+{"uid":"11460439244520324105","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place the can on the table\n\u003c/PRED\u003e","video":"16771145490276946467.mp4"}
+{"uid":"17559591292334253012","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue can in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray 11- put cold brew can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue can in the container 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray 11- put cold brew can in the tray Q: immediate next step? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue can in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6265371816213129114.mp4"}
+{"uid":"10253076428775226529","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place 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:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew 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 red bull and replace them with the cold brew. last 20 steps: 1- place 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e","video":"1338206515133449052.mp4"}
+{"uid":"10423964393264197661","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull can 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: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the counter 2- place the can on the table 3- put cold brew can in the tray 4- put cold brew can in the tray 5- put the blue can in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e","video":"9311647816309464651.mp4"}
+{"uid":"8423846297093857064","text":"\u003ctask:success:discrete:True\u003e\nplace the red bull can 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 red bull can on the counter\n\u003c/PRED\u003e","video":"9543679340102575195.mp4"}
+{"uid":"955517427119822299","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- put cold brew can in the tray 5- put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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:affordance:discriminative:discrete:True\u003e\nplace 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: place the can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the 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 can on the table\n\u003c/PRED\u003e","video":"11843831805901354998.mp4"}
+{"uid":"6878583992497479126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the note book 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":"2569553997140537325.mp4"}
+{"uid":"16261634459703067993","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue can in the tray 2- put cold brew can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container Q: immediate next step? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14445877642666499113.mp4"}
+{"uid":"16072525389955463307","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the red bull can 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":"10242444885988611853.mp4"}
+{"uid":"10805386047202133535","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":"7477749581810205532.mp4"}
+{"uid":"8539591777250230440","text":"\u003ctask:success:discrete:True\u003e\nput cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray Q: immediate next step? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put cold brew can in the tray 2- put the blue can in the container 3- put cold brew can in the tray 4- put cold brew can in the tray 5- put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e","video":"2395211280704392953.mp4"}
+{"uid":"4199552119230512164","text":"\u003ctask:success:discrete:False\u003e\nplace the blue can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray 11- put cold brew can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray 11- put cold brew can in the tray Q: immediate next step? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e","video":"6893216148286944373.mp4"}
+{"uid":"8016738474021239432","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11370661904760539808.mp4"}
+{"uid":"3361916624087996737","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull can 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:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the counter 2- put cold brew can in the tray 3- put cold brew can in the tray 4- put the blue can in the container 5- put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e","video":"7387183106173832423.mp4"}
+{"uid":"18324092501748188257","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray 11- put cold brew can in the tray 12- put cold brew can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray 11- put cold brew can in the tray 12- put cold brew can in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12426663618039627425.mp4"}
+{"uid":"6686620365740317234","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black 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":"9956139565343101460.mp4"}
+{"uid":"11056876549020870319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7749964138296298624.mp4"}
+{"uid":"8887654388614652156","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7476261370728532497.mp4"}
+{"uid":"9094733992430683293","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray Q: immediate next step? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put cold brew can in the tray 2- put cold brew can in the tray 3- put cold brew can in the tray 4- put cold brew can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5965060623700592608.mp4"}
+{"uid":"13560133304406906516","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue can in the container 2- put cold brew can in the tray 3- put cold brew can in the tray 4- put cold brew can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue can in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray Q: immediate next step? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e","video":"7825943290491384335.mp4"}
+{"uid":"3091222002018246741","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the clip 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":"15099267104822493296.mp4"}
+{"uid":"3264428598781436129","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the red bull can 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":"17329731541609201711.mp4"}
+{"uid":"10459183400340130097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8835085703357297749.mp4"}
+{"uid":"2182041955016616766","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":"16490848966232251285.mp4"}
+{"uid":"10101425266499941820","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the battery in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2055584552385085131.mp4"}
+{"uid":"3945069465519053998","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put cold brew can in the tray 2- put cold brew can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray Q: immediate next step? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e","video":"15802016993576865144.mp4"}
+{"uid":"12692339540475635257","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: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 red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- place the can on the table 3- place the can on the table 4- put cold brew can in the tray 5- put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew 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 red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the 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\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":"8217604623800929993.mp4"}
+{"uid":"13980037036762731405","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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew 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 red bull and replace them with the cold brew. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: none 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":"4454064809349001568.mp4"}
+{"uid":"10728990062638853976","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the 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 can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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 red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place 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 can on the table\n\u003c/PRED\u003e","video":"4589611881335099680.mp4"}
+{"uid":"8090735815879669854","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":"8198397673308922737.mp4"}
+{"uid":"1645155931479077250","text":"\u003ctask:success:discrete:True\u003e\nput the blue can in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e","video":"3144782052737393394.mp4"}
+{"uid":"16980062299328873594","text":"\u003ctask:success:discrete:False\u003e\nput cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put cold brew can in the tray 2- put cold brew can in the tray 3- put the blue can in the container 4- put cold brew can in the tray 5- put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table Q: immediate next step? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e","video":"14884333921349117966.mp4"}
+{"uid":"12390431543896393368","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16620694721993159382.mp4"}
+{"uid":"16929884626914014274","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":"15283151152998104631.mp4"}
+{"uid":"17653313810915713402","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":"2303616347087801462.mp4"}
+{"uid":"7658265635337857962","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4896269916040851087.mp4"}
+{"uid":"17465939575337467322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink 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":"16924683546865656128.mp4"}
+{"uid":"6590669728765026463","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put cold brew can in the tray 2- put cold brew can in the tray 3- put cold brew can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container Q: immediate next step? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10518238806754440457.mp4"}
+{"uid":"4659646067468660899","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the counter 2- place the can on the table 3- place the can on the table 4- put cold brew can in the tray 5- put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull can 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e","video":"5569785896380747608.mp4"}
+{"uid":"12782535951176790880","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1011689317872500618.mp4"}
+{"uid":"8244758279570058893","text":"\u003ctask:success:discrete:True\u003e\nplace 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: place the can on the table\n\u003c/PRED\u003e","video":"911039533743789474.mp4"}
+{"uid":"16835045596591632571","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":"3537658579956210455.mp4"}
+{"uid":"5854862943872802856","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange 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":"12092659396591689167.mp4"}
+{"uid":"4373911115120582213","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the counter 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull can 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","video":"6571127016754338420.mp4"}
+{"uid":"14585348437281572910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"1871310977446365235.mp4"}
+{"uid":"1074776742412910820","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the 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":"11870123787702829031.mp4"}
+{"uid":"12148331934403988607","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"14216901029617682314.mp4"}
+{"uid":"17720622194099521359","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":"13090524923171344832.mp4"}
+{"uid":"1241374584550520204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the lids 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":"16913284442404641107.mp4"}
+{"uid":"11377665670236186340","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue can in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue can in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table Q: immediate next step? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue can in the container 2- put cold brew can in the tray 3- put the blue can in the container 4- put cold brew can in the tray 5- put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e","video":"14854347439550912125.mp4"}
+{"uid":"5380388133931267030","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":"1589294033617554181.mp4"}
+{"uid":"16880996800404262081","text":"\u003ctask:success:discrete:True\u003e\nput the blue can in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e","video":"14088101740275914537.mp4"}
+{"uid":"1360145903289514474","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue can in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue can in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue can in the container 2- put the blue can in the container 3- put cold brew can in the tray 4- put cold brew can in the tray 5- put cold brew can 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 can in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray Q: immediate next step? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e","video":"10935928197992980585.mp4"}
+{"uid":"11048510652603462825","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray 11- put cold brew can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put cold brew can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray 11- put cold brew can in the tray Q: immediate next step? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e","video":"5651517996068002445.mp4"}
+{"uid":"11960961150518365761","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":"3203802595269516293.mp4"}
+{"uid":"14672462969067007003","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray Q: immediate next step? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue can in the tray 2- put cold brew can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e","video":"11889689497391434177.mp4"}
+{"uid":"16312037481251859537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a yellow packet in the small basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14111504077162466145.mp4"}
+{"uid":"15294418698544557153","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray Q: immediate next step? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue can in the tray 2- put the blue can in the container 3- put cold brew can in the tray 4- put cold brew can in the tray 5- put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e","video":"7018242377644455420.mp4"}
+{"uid":"12928756469300650651","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the counter 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull can on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red bull can on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14985628493949406294.mp4"}
+{"uid":"14225522068125013308","text":"\u003ctask:success:discrete:True\u003e\nplace the red bull can 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 red bull can on the counter\n\u003c/PRED\u003e","video":"14545153115264053354.mp4"}
+{"uid":"12752158937076304273","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":"7835899201466669550.mp4"}
+{"uid":"2936973370011611328","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the 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 can on the table\n\u003c/PRED\u003e","video":"8502787717515401799.mp4"}
+{"uid":"66182052339673177","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":"2012175287327309927.mp4"}
+{"uid":"3473290210397336237","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue can in the tray 2- put cold brew can in the tray 3- put cold brew can in the tray 4- put cold brew can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray Q: immediate next step? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e","video":"14616440796264739747.mp4"}
+{"uid":"400175343284152955","text":"\u003ctask:success:discrete:True\u003e\nplace the red bull can 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 red bull can on the counter\n\u003c/PRED\u003e","video":"17500252122500309188.mp4"}
+{"uid":"15945902256912904785","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":"6395740265517953016.mp4"}
+{"uid":"17968266196246051542","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":"4862146753267207086.mp4"}
+{"uid":"781900257637297101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11343823921791361555.mp4"}
+{"uid":"5533398500274258643","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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e","video":"13714927187754533587.mp4"}
+{"uid":"3500920333328742319","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue can in the tray 2- put cold brew can in the tray 3- put the blue can in the container 4- put cold brew can in the tray 5- put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e","video":"11955825614516483596.mp4"}
+{"uid":"819803089679036379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pouch in 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":"5221098970296309020.mp4"}
+{"uid":"11309513830296573908","text":"\u003ctask:success:discrete:True\u003e\nput the blue can in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e","video":"3555717180269618349.mp4"}
+{"uid":"654725478597291033","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red bull can 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the counter 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull can 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e","video":"2650730973010442604.mp4"}
+{"uid":"15317660375773611230","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":"14493518348067715879.mp4"}
+{"uid":"15036877896934980099","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- put cold brew can in the tray 3- put cold brew can in the tray 4- put the blue can in the container 5- put cold brew can in the tray\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 red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place 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 red bull and replace them with the cold brew 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":"11102179827322132061.mp4"}
+{"uid":"16889845584022233803","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place 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 can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- put cold brew can in the tray 3- put cold brew can in the tray 4- put the blue can in the container 5- put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"5757052761896038919.mp4"}
+{"uid":"13976618404685744738","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- place the can on the table 3- put cold brew can in the tray 4- put cold brew can in the tray 5- put the blue can in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place 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:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew 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: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":"15385868000554709962.mp4"}
+{"uid":"12126376357249717664","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":"15361746346993633815.mp4"}
+{"uid":"18104220310116618944","text":"\u003ctask:success:discrete:True\u003e\nplace the blue can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue can in the tray\n\u003c/PRED\u003e","video":"15817493982438359922.mp4"}
+{"uid":"5550120956825210550","text":"\u003ctask:success:discrete:True\u003e\nput the blue can in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e","video":"13338653865041104483.mp4"}
+{"uid":"3411065356326143365","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"9826750084748425032.mp4"}
+{"uid":"6514233747282343420","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":"11038928129138266239.mp4"}
+{"uid":"13770203933429223325","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place 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 can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the can on the table 3- put cold brew can in the tray 4- put cold brew can in the tray 5- put the blue can in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the 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 can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"18230984391889252357.mp4"}
+{"uid":"5605291008305684336","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew 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: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 red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place 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","video":"658139676481377501.mp4"}
+{"uid":"9792531470015659020","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3613597144324320265.mp4"}
+{"uid":"1800012876990259192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"7178783139286668904.mp4"}
+{"uid":"7540736572461133440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black book on the left side of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8247370496759390383.mp4"}
+{"uid":"9995569936794927382","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red bull can on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the red bull can 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":"12983795589722273843.mp4"}
+{"uid":"1280795784119201808","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2346433424542504741.mp4"}
+{"uid":"2740691944868149358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5833295401596063786.mp4"}
+{"uid":"4516288220241689876","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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e","video":"5094347197928114825.mp4"}
+{"uid":"12894702050463526332","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray Q: immediate next step? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue can in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container 10- put cold brew can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue can in the container 2- put cold brew can in the tray 3- done\n\u003c/PRED\u003e","video":"12122753440372825124.mp4"}
+{"uid":"12654177085867150774","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container Q: immediate next step? \u003cPRED\u003eA: put the blue can in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue can in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull and replace them with the cold brew. last 20 steps: 1- place the can on the table 2- place the can on the table 3- place the can on the table 4- place the can on the table 5- place the can on the table 6- place the can on the table 7- put cold brew can in the tray 8- put cold brew can in the tray 9- put the blue can in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue can in the container 2- put cold brew can in the tray 3- put cold brew can in the tray 4- done\n\u003c/PRED\u003e","video":"1455904920347552826.mp4"}
+{"uid":"4100354199600861924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace purple 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":"12202949134850826221.mp4"}
+{"uid":"1142765901800345325","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen in 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder 4- Place the pen in holder 5- Place the pen in holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder 4- Place the pen in holder 5- Place the pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"797309938809790275.mp4"}
+{"uid":"12989871027822639031","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder Q: immediate next step? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in holder 2- Place the pen in holder 3- Place the pen in holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e","video":"8090044206878508869.mp4"}
+{"uid":"14789149567199956098","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder 4- Place the pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder 4- Place the pen in holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"5626843375257478195.mp4"}
+{"uid":"7462172510000514033","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork Q: immediate next step? \u003cPRED\u003eA: pick up scoop\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 scoop\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table 2- put glass jar cap on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up scoop 2- put snacks in the paper bowl 3- put scoop in theholderl 4- put the cup on the glass jar 5- pick up paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table 2- put glass jar cap on the table Q: immediate next step? \u003cPRED\u003eA: pick up scoop\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 scoop\n\u003c/PRED\u003e","video":"9820458580782897714.mp4"}
+{"uid":"5100522759057161140","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the white glass 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":"1733513924979382038.mp4"}
+{"uid":"1465476010841669114","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder Q: immediate next step? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in holder 2- Place the pen in holder 3- done\n\u003c/PRED\u003e","video":"11410549725410360739.mp4"}
+{"uid":"3923346721074714410","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- Place the pen in holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3016341719443951764.mp4"}
+{"uid":"12299920314715354565","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3210640036519643953.mp4"}
+{"uid":"14793276373388918386","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"17178013729875567212.mp4"}
+{"uid":"11215982399854036569","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in holder 2- Place the pen in holder 3- Place the pen in holder 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e","video":"9199494862507451470.mp4"}
+{"uid":"7886062717061651816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12060782920489185472.mp4"}
+{"uid":"1719795498384196206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"17298433510793820248.mp4"}
+{"uid":"6685520084406104626","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put paper bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput paper bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17903194594217326576.mp4"}
+{"uid":"4123786381117715133","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":"14239419784835474806.mp4"}
+{"uid":"15059426221339485348","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the coffee cup lid 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":"1161177548764956850.mp4"}
+{"uid":"3498036906202655079","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen in 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":"17207733681551174067.mp4"}
+{"uid":"7610928127775647207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pouch upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12728124027539002313.mp4"}
+{"uid":"15146679615480576913","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":"8019768559415897941.mp4"}
+{"uid":"5878597861301730662","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table 2- put glass jar cap on the table 3- pick up scoop 4- put snacks in the paper bowl 5- put scoop in theholderl 6- put the cup on the glass jar 7- pick up paper bowl Q: immediate next step? \u003cPRED\u003eA: put paper bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput paper bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork Q: immediate next step? \u003cPRED\u003eA: put paper bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table 2- put glass jar cap on the table 3- pick up scoop 4- put snacks in the paper bowl 5- put scoop in theholderl 6- put the cup on the glass jar 7- pick up paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put paper bowl on the table 2- put fork in the paper bowl 3- done\n\u003c/PRED\u003e","video":"5371420679159786176.mp4"}
+{"uid":"249526701987041292","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table 2- put glass jar cap on the table 3- pick up scoop 4- put snacks in the paper bowl 5- put scoop in theholderl Q: immediate next step? \u003cPRED\u003eA: put the cup on the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork Q: immediate next step? \u003cPRED\u003eA: put the cup on the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup on the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup on the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup on the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table 2- put glass jar cap on the table 3- pick up scoop 4- put snacks in the paper bowl 5- put scoop in theholderl Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup on the glass jar 2- pick up paper bowl 3- put paper bowl on the table 4- put fork in the paper bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup on the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11902093403594660812.mp4"}
+{"uid":"4488336889635828780","text":"\u003ctask:success:discrete:True\u003e\nPlace the pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e","video":"9059067438087565122.mp4"}
+{"uid":"6086041664219144862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoons in the spoons holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7963881359798275359.mp4"}
+{"uid":"1785980939308087843","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"5477752041126216364.mp4"}
+{"uid":"6608028181422757921","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9228014200394682905.mp4"}
+{"uid":"6116183187589509863","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen 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":"12603365348061522865.mp4"}
+{"uid":"17514955483921290636","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the oatmeal 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":"14611381318901353461.mp4"}
+{"uid":"15730056172857731360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15694118063364925464.mp4"}
+{"uid":"14700128736163317746","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"13228864754545719504.mp4"}
+{"uid":"608843946514851490","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":"5920377086331474689.mp4"}
+{"uid":"17822043724741884356","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7476524164578149850.mp4"}
+{"uid":"1657723032063870077","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put snacks in the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table 2- put glass jar cap on the table 3- pick up scoop Q: immediate next step? \u003cPRED\u003eA: put snacks in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput snacks in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table 2- put glass jar cap on the table 3- pick up scoop Q: next 5 steps? \u003cPRED\u003eA: 1- put snacks in the paper bowl 2- put scoop in theholderl 3- put the cup on the glass jar 4- pick up paper bowl 5- put paper bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput snacks in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put snacks in the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork Q: immediate next step? \u003cPRED\u003eA: put snacks in the paper bowl\n\u003c/PRED\u003e","video":"1578691396282277075.mp4"}
+{"uid":"16329881558800876012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the snack packet off the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6600342977176544017.mp4"}
+{"uid":"4523592461516183126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black 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":"11424755326201366725.mp4"}
+{"uid":"16525367346496278848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16657983604146145892.mp4"}
+{"uid":"7589390443704424903","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder 4- Place the pen in holder Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder 4- Place the pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in holder 2- done\n\u003c/PRED\u003e","video":"17677340687356095931.mp4"}
+{"uid":"5939507831654770011","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen in 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":"8711229817331889283.mp4"}
+{"uid":"16066562819370737700","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in holder 2- Place the pen in holder 3- Place the pen in holder 4- Place the pen in holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"950085513935656123.mp4"}
+{"uid":"14150647642159069873","text":"\u003ctask:success:discrete:True\u003e\nopen refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 refrigerator\n\u003c/PRED\u003e","video":"12306012003180417475.mp4"}
+{"uid":"13685023908881116951","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am thirsty can you get a hint watermelon from mk kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am thirsty can you get a hint watermelon from mk kitchen and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open refrigerator 2- pick up hint bottle 3- put bottle on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am thirsty can you get a hint watermelon from mk kitchen and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e","video":"15264304429064135004.mp4"}
+{"uid":"9777523933038614314","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen in 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":"7685155105242276988.mp4"}
+{"uid":"12496477636354640374","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table Q: immediate next step? \u003cPRED\u003eA: put glass jar cap on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput glass jar cap on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput glass jar cap on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put glass jar cap on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put glass jar cap on the table 2- pick up scoop 3- put snacks in the paper bowl 4- put scoop in theholderl 5- put the cup on the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put glass jar cap on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork Q: immediate next step? \u003cPRED\u003eA: put glass jar cap on the table\n\u003c/PRED\u003e","video":"10253757052076213482.mp4"}
+{"uid":"2191752296595401009","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":"185773284173541707.mp4"}
+{"uid":"11911623367747394830","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"3188773146156420097.mp4"}
+{"uid":"13975305344914216758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9270898611022032856.mp4"}
+{"uid":"18067070451506006851","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"430814430998131528.mp4"}
+{"uid":"14793634435891672239","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in holder 2- Place the pen in holder 3- Place the pen in holder 4- Place the pen in holder 5- Place the pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4894054714932631037.mp4"}
+{"uid":"2991615332880877158","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- Place the pen in holder 3- Place the pen in holder 4- Place the pen in holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"17801117494870846473.mp4"}
+{"uid":"8922218566194195506","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"10159785458369451340.mp4"}
+{"uid":"15126570419676196591","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put paper bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput paper bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17180795692472537511.mp4"}
+{"uid":"3567053300989778886","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17473323769120583215.mp4"}
+{"uid":"6756591260296368974","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: i am thirsty can you get a hint watermelon from mk kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: put bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am thirsty can you get a hint watermelon from mk kitchen and bring it to my desk. last 20 steps: 1- open refrigerator 2- pick up hint bottle Q: next 5 steps? \u003cPRED\u003eA: 1- put bottle 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 bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am thirsty can you get a hint watermelon from mk kitchen and bring it to my desk. last 20 steps: 1- open refrigerator 2- pick up hint bottle Q: immediate next step? \u003cPRED\u003eA: put bottle on the table\n\u003c/PRED\u003e","video":"17266635164053732775.mp4"}
+{"uid":"16355970799209975472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notepad on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8009757059585493525.mp4"}
+{"uid":"7596602920095764900","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder 4- Place the pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder 4- Place the pen in holder Q: immediate next step? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in holder\n\u003c/PRED\u003e","video":"13915590393683964778.mp4"}
+{"uid":"17478045221248386998","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"16985614076227563904.mp4"}
+{"uid":"8358330481863368493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15589008534872973089.mp4"}
+{"uid":"12686373150482291616","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am thirsty can you get a hint watermelon from mk kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am thirsty can you get a hint watermelon from mk kitchen and bring it to my desk. last 20 steps: 1- open refrigerator 2- pick up hint bottle 3- put bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am thirsty can you get a hint watermelon from mk kitchen and bring it to my desk. last 20 steps: 1- open refrigerator 2- pick up hint bottle 3- put bottle on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6978496556424366055.mp4"}
+{"uid":"15508025153867554834","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in holder 2- Place the pen in holder 3- Place the pen in holder 4- Place the pen in holder 5- Place the pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e","video":"1846850648269493268.mp4"}
+{"uid":"11149550324854262013","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table 2- put glass jar cap on the table 3- pick up scoop 4- put snacks in the paper bowl 5- put scoop in theholderl 6- put the cup on the glass jar Q: immediate next step? \u003cPRED\u003eA: pick up paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table 2- put glass jar cap on the table 3- pick up scoop 4- put snacks in the paper bowl 5- put scoop in theholderl 6- put the cup on the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- pick up paper bowl 2- put paper bowl on the table 3- put fork in the paper bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork Q: immediate next step? \u003cPRED\u003eA: pick up paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6920307417097102929.mp4"}
+{"uid":"4734523224922648652","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white 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":"13008432235873769091.mp4"}
+{"uid":"11120077570814689452","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table 2- put glass jar cap on the table 3- pick up scoop 4- put snacks in the paper bowl 5- put scoop in theholderl 6- put the cup on the glass jar 7- pick up paper bowl 8- put paper bowl on the table Q: immediate next step? \u003cPRED\u003eA: put fork in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork Q: immediate next step? \u003cPRED\u003eA: put fork in the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table 2- put glass jar cap on the table 3- pick up scoop 4- put snacks in the paper bowl 5- put scoop in theholderl 6- put the cup on the glass jar 7- pick up paper bowl 8- put paper bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the paper bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in the paper bowl\n\u003c/PRED\u003e","video":"11644664703712890033.mp4"}
+{"uid":"7262093877036348526","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up hint bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up hint bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2666979560179885568.mp4"}
+{"uid":"15230179039413326089","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder 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 pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder 4- Place the pen in holder 5- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder 4- Place the pen in holder 5- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17154780066382452923.mp4"}
+{"uid":"4418048600442772003","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put snacks in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput snacks in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14714474083914638014.mp4"}
+{"uid":"6545848559904199420","text":"\u003ctask:success:discrete:False\u003e\nput paper bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put paper bowl on the table 2- put glass jar cap on the table 3- pick up scoop 4- put snacks in the paper bowl 5- put scoop in theholderl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put paper bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork Q: immediate next step? \u003cPRED\u003eA: put paper bowl on the table\n\u003c/PRED\u003e","video":"9568629925316507680.mp4"}
+{"uid":"12427259355772331806","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up hint bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am thirsty can you get a hint watermelon from mk kitchen and bring it to my desk. last 20 steps: 1- open refrigerator Q: next 5 steps? \u003cPRED\u003eA: 1- pick up hint bottle 2- put bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up hint bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am thirsty can you get a hint watermelon from mk kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: pick up hint bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up hint bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am thirsty can you get a hint watermelon from mk kitchen and bring it to my desk. last 20 steps: 1- open refrigerator Q: immediate next step? \u003cPRED\u003eA: pick up hint bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up hint bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"971077835426125148.mp4"}
+{"uid":"2273902976698747958","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder 4- Place the pen in holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"1837802537302497211.mp4"}
+{"uid":"17762284054971235686","text":"\u003ctask:success:discrete:True\u003e\nput blue pen in 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 blue pen in holder\n\u003c/PRED\u003e","video":"11798635170139372176.mp4"}
+{"uid":"13070268234943705493","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen holder. last 20 steps: 1- put the pen in the pen stand 2- Place the pen in holder 3- Place the pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in holder 2- Place the pen in holder 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in holder\n\u003c/PRED\u003e","video":"176248160518817582.mp4"}
+{"uid":"9315815517936357151","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table 2- put glass jar cap on the table 3- pick up scoop 4- put snacks in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put scoop in theholderl 2- put the cup on the glass jar 3- pick up paper bowl 4- put paper bowl on the table 5- put fork in the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork. last 20 steps: 1- put paper bowl on the table 2- put glass jar cap on the table 3- pick up scoop 4- put snacks in the paper bowl Q: immediate next step? \u003cPRED\u003eA: put scoop in theholderl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput scoop in theholderl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 scoop in theholderl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 scoop in theholderl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put scoop in theholderl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a fork Q: immediate next step? \u003cPRED\u003eA: put scoop in theholderl\n\u003c/PRED\u003e","video":"9139316909249047183.mp4"}
+{"uid":"14652605616842434698","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":"12866354698295837875.mp4"}
+{"uid":"6413411351749501347","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput candy 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":"16025283469773635521.mp4"}
+{"uid":"8165443055122566168","text":"\u003ctask:success:discrete:True\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e","video":"5773052628294710263.mp4"}
+{"uid":"15001003911233302498","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstalk 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":"7714738707890881840.mp4"}
+{"uid":"11405544008596542007","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":"5158939249338213374.mp4"}
+{"uid":"16144363696490799082","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":"7691464641074266054.mp4"}
+{"uid":"3261705495666432517","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4418884035520711572.mp4"}
+{"uid":"4362781395498223342","text":"\u003ctask:success:discrete:False\u003e\nput candy 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: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy 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: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the box 2- put candy in the box 3- Place the candy in the tray 4- Place the candy in the tray 5- Pick up the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e","video":"13892009916637187598.mp4"}
+{"uid":"17896902473189103544","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":"8641728969988106524.mp4"}
+{"uid":"17173517595590755410","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut candy 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray 8- Place the candy in the tray 9- Pick up the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Put candy in a tray 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut candy 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: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray 8- Place the candy in the tray 9- Pick up the candy Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e","video":"4573399573253211115.mp4"}
+{"uid":"15980543577202153128","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy 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 candy in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy 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: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the box 2- Place the candy in the tray 3- Pick up the candy 4- Put candy in a tray 5- done\n\u003c/PRED\u003e","video":"6281950250211700042.mp4"}
+{"uid":"11308753109886276687","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy in the tray 2- Place the candies in the tray 3- Place the candy in the tray 4- put candy in the box 5- put candy in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e","video":"8748088536704656883.mp4"}
+{"uid":"9988305576286195690","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy 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: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the box 2- Pick up the candy 3- Put candy in a tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e","video":"1583357076136631073.mp4"}
+{"uid":"11337203728795716768","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput candy 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":"15369326809572521548.mp4"}
+{"uid":"18125779377782721084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"9479901100122433863.mp4"}
+{"uid":"10460220045492202025","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut candy 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":"7587116776590190678.mp4"}
+{"uid":"8217047966186538554","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy in the tray 2- Place the candy in the tray 3- Pick up the candy 4- Put candy in a tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e","video":"9196658652189009140.mp4"}
+{"uid":"12282770342770503964","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red 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":"10280447114189601271.mp4"}
+{"uid":"4049709436459453520","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":"4043274567181864824.mp4"}
+{"uid":"7171655923812101660","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray 8- Place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray 8- Place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the candy 2- Put candy in a tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Pick up the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the candy\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16228048277957765503.mp4"}
+{"uid":"5752501436881890536","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put candy in a tray 2- Place the candy in the tray 3- put candy in the box 4- put candy in the box 5- Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut candy 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":"4174628027892447000.mp4"}
+{"uid":"8487056712222532719","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10502020776812525533.mp4"}
+{"uid":"11473427658956699033","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray 8- Place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the box 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy 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: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray 8- Place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy 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 candy in the box\n\u003c/PRED\u003e","video":"3814055715065002271.mp4"}
+{"uid":"8589998905908849064","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut candy 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":"14749122760657678854.mp4"}
+{"uid":"4622859074760830807","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray 8- Place the candy in the tray 9- Pick up the candy 10- Put candy in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut candy 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:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray 8- Place the candy in the tray 9- Pick up the candy 10- Put candy in a tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17595014612030426729.mp4"}
+{"uid":"14102871115621670995","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white sachet 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":"14263332688863344535.mp4"}
+{"uid":"11151991775979691129","text":"\u003ctask:success:discrete:True\u003e\nput candy 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 candy in the box\n\u003c/PRED\u003e","video":"1025296161643806282.mp4"}
+{"uid":"8499050648866362025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace that 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":"6337653415769136984.mp4"}
+{"uid":"2947552623130274424","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy in the tray 2- put candy in the box 3- Place the candy in the tray 4- Place the candy in the tray 5- Pick up the candy\n\u003c/PRED\u003e","video":"11831707315846000730.mp4"}
+{"uid":"4422667172314332546","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"12177454100447055142.mp4"}
+{"uid":"12803982177552960228","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the box 2- Place the candy in the tray 3- Place the candy in the tray 4- Pick up the candy 5- Put candy in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy 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 candy in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy 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 candy in the box\n\u003c/PRED\u003e","video":"4383830235087157773.mp4"}
+{"uid":"14542516575580889192","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy in the tray 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e","video":"11854132047072429487.mp4"}
+{"uid":"6618227527291557819","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8841655505558665591.mp4"}
+{"uid":"12222987303878266675","text":"\u003ctask:success:discrete:False\u003e\nPlace the candies in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candies in the tray 2- Place the candy in the tray 3- put candy in the box 4- put candy in the box 5- Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candies in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the candies in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box Q: immediate next step? \u003cPRED\u003eA: Place the candies in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candies in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candies in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14880151448277559430.mp4"}
+{"uid":"15584902760328810892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork 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":"848287546183989123.mp4"}
+{"uid":"3547369130245481241","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon on tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15768476110439881753.mp4"}
+{"uid":"5026529528766423453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet inside 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":"16048276340954447331.mp4"}
+{"uid":"14237026517116244989","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray 8- Place the candy in the tray 9- Pick up the candy Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray 8- Place the candy in the tray 9- Pick up the candy Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy 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 candy in the tray\n\u003c/PRED\u003e","video":"4333893285411813153.mp4"}
+{"uid":"17063860561311580708","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":"6033889017245049580.mp4"}
+{"uid":"12652443853220583350","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut candy 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":"6699518907652240191.mp4"}
+{"uid":"8679539106769339234","text":"\u003ctask:success:discrete:False\u003e\nPut candy 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put candy in a tray 2- put candy in the box 3- Place the candy in the tray 4- Place the candy in the tray 5- Pick up the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut candy 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: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e","video":"6166441565782592344.mp4"}
+{"uid":"3159737920100074938","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy in the tray 2- put candy in the box 3- put candy in the box 4- Place the candy in the tray 5- Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6975351585933525282.mp4"}
+{"uid":"18232100637323574071","text":"\u003ctask:success:discrete:False\u003e\nPut candy 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:discriminative:discrete:True\u003e\nPut candy 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put candy in a tray 2- Place the candy in the tray 3- Pick up the candy 4- Put candy in a tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e","video":"5876362573858345992.mp4"}
+{"uid":"1070240398055807585","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":"4733288268104672569.mp4"}
+{"uid":"11711462579362426581","text":"\u003ctask:success:discrete:True\u003e\nput candy 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 candy in the box\n\u003c/PRED\u003e","video":"4211372617257603755.mp4"}
+{"uid":"12503605403334563464","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white 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":"7533292755750667234.mp4"}
+{"uid":"5531480265463682877","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 15 number ball in the brown 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":"16016897510875883990.mp4"}
+{"uid":"7134839434800890288","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":"4289579209344146379.mp4"}
+{"uid":"16634955577549816149","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy in the tray 2- Place the candy in the tray 3- Place the candy in the tray 4- Pick up the candy 5- Put candy in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16660769721899341183.mp4"}
+{"uid":"6622447183434666010","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":"4149973375652345646.mp4"}
+{"uid":"2670027882267244624","text":"\u003ctask:success:discrete:True\u003e\nput candy 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: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray 8- Place the candy in the tray 9- put candy 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 candy in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray 8- Place the candy in the tray 9- put candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2941016995296913819.mp4"}
+{"uid":"5112392829705523003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"1862296254806585527.mp4"}
+{"uid":"9038368731420034429","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the seaweed snacks 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":"13852947400742585703.mp4"}
+{"uid":"9522990577001546192","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut candy 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put candy in a tray 2- Place the candies in the tray 3- Place the candy in the tray 4- put candy in the box 5- put candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut candy 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","video":"539080338742102965.mp4"}
+{"uid":"3863332338210133998","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9469753629058872789.mp4"}
+{"uid":"12208271114119117401","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy 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 candy in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy 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: put the candies in the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e","video":"9853808293350811980.mp4"}
+{"uid":"3846644068892894128","text":"\u003ctask:success:discrete:False\u003e\nput candy 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: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy 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: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the box 2- put candy in the box 3- put candy in the box 4- Place the candy in the tray 5- Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e","video":"13374395338237098572.mp4"}
+{"uid":"141180313791277754","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put candy in a tray 2- Pick up the candy 3- Put candy in a tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut candy 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: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e","video":"6173181483136744367.mp4"}
+{"uid":"15611262527630562429","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box 6- put candy in the box 7- Place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy in the tray 2- Pick up the candy 3- Put candy in a tray 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e","video":"1502198788535196775.mp4"}
+{"uid":"4577964775685305722","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut candy 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:success:discrete:False\u003e\nPut candy 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put candy in a tray 2- Place the candy in the tray 3- Place the candy in the tray 4- Pick up the candy 5- Put candy in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e","video":"17021267113876759944.mp4"}
+{"uid":"5864831835735107078","text":"\u003ctask:success:discrete:True\u003e\nPlace the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the candy in the tray\n\u003c/PRED\u003e","video":"11647980822187063025.mp4"}
+{"uid":"7835137630051322370","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink 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":"2359096907220834089.mp4"}
+{"uid":"7686857267547512527","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put candy in a tray 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray 5- put candy in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut candy 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut candy 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","video":"17708788899357832476.mp4"}
+{"uid":"4241796274578515397","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":"7890835126039208382.mp4"}
+{"uid":"14620492704332862130","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut candy 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: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut candy 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: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put candy in a tray 2- put candy in the box 3- Place the candy in the tray 4- Place the candy in the tray 5- Pick up the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray 4- Place the candy in the tray Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e","video":"11955990689539703606.mp4"}
+{"uid":"13190495799412919415","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put candy in a tray 2- put candy in the box 3- put candy in the box 4- Place the candy in the tray 5- Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut candy 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: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box 3- Place the candies in the tray Q: immediate next step? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut candy 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","video":"9643336562913462094.mp4"}
+{"uid":"7345751922129656806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3003457339067746043.mp4"}
+{"uid":"3301379279153967546","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput candies 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 candies 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 candies in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put candies in the box 2- Place the candy in the tray 3- put candy in the box 4- put candy in the box 5- Place the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: put candies in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candies in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box 2- put candy in the box Q: immediate next step? \u003cPRED\u003eA: put candies in the box\n\u003c/PRED\u003e","video":"14835189918096142967.mp4"}
+{"uid":"17958397774492385938","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy 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 candy 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: put the candies in the tray. Q: immediate next step? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the tray. last 20 steps: 1- put candy in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in the box 2- Place the candies in the tray 3- Place the candy in the tray 4- put candy in the box 5- put candy in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in the box\n\u003c/PRED\u003e","video":"7948199932884428451.mp4"}
+{"uid":"8577281859598980182","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8089326862834295881.mp4"}
+{"uid":"6162457995584437327","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut candy 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":"2562804601520148555.mp4"}
+{"uid":"5857473139479478792","text":"\u003ctask:success:discrete:True\u003e\nPut candy 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put candy in a tray\n\u003c/PRED\u003e","video":"17555172145427771076.mp4"}
+{"uid":"5123267800308555904","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":"16967118521112369311.mp4"}
+{"uid":"518487345171439835","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":"8173779024740589574.mp4"}
+{"uid":"13842661023631636860","text":"\u003ctask:success:discrete:True\u003e\nput the  packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e","video":"14688431327025677079.mp4"}
+{"uid":"6220396084031633146","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the organizer 2- put the  packets into the organizer 3- place pink packet in the organizer 4- place two pink packets in the organizer 5- place white packet in the organizer\n\u003c/PRED\u003e","video":"16496666362943903775.mp4"}
+{"uid":"2432923590245048122","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a brown packet on 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":"354848991475410107.mp4"}
+{"uid":"11439067992292058138","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put white packet in the organiser 2- place brown packet in the organizer 3- place brown packet in the organizer 4- place brown packet in the organizer 5- place brown packet in the 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 white packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put white 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 the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer Q: immediate next step? \u003cPRED\u003eA: Put white packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut white 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 white packet in the organiser\n\u003c/PRED\u003e","video":"12605019416215066794.mp4"}
+{"uid":"10655016898295340800","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pink packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15312516803271695570.mp4"}
+{"uid":"17710142719107052672","text":"\u003ctask:success:discrete:True\u003e\nplace white packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place white packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3222951345807917561.mp4"}
+{"uid":"15266221734499165276","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":"2178500948944430487.mp4"}
+{"uid":"13669617848917029459","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put 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 brown 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 the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer 11- place brown packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put brown sugar packet in the organiser 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer 11- place brown packet in the organizer Q: immediate next step? \u003cPRED\u003eA: Put 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 brown sugar packet in the organiser\n\u003c/PRED\u003e","video":"9187919440172049965.mp4"}
+{"uid":"9736841515051462077","text":"\u003ctask:success:discrete:True\u003e\nplace brown packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e","video":"15307498458111927447.mp4"}
+{"uid":"9579720382838198218","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace coffee cup sleeve 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":"3675580593058510736.mp4"}
+{"uid":"3189056845948657892","text":"\u003ctask:success:discrete:True\u003e\nPut white packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put white packet in the organiser\n\u003c/PRED\u003e","video":"12179869617900037197.mp4"}
+{"uid":"5448687162855800775","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink packet in the organizer 2- place two pink packets in the organizer 3- place white packet in the organizer 4- place white packet in the organizer 5- place white packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer Q: immediate next step? \u003cPRED\u003eA: place pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16220031143402183642.mp4"}
+{"uid":"13883325404895708531","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put brown packet in the organiser 2- place brown packet in the organizer 3- place brown packet in the organizer 4- place brown packet in the organizer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put brown packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut brown packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put brown packet in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: Put brown packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut brown packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer Q: immediate next step? \u003cPRED\u003eA: Put brown packet in the organiser\n\u003c/PRED\u003e","video":"17559655777020589738.mp4"}
+{"uid":"2443350477556808672","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10676697719353079441.mp4"}
+{"uid":"14050889965412472568","text":"\u003ctask:success:discrete:True\u003e\nplace white packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place white packet in the organizer\n\u003c/PRED\u003e","video":"2803528486040348053.mp4"}
+{"uid":"1874208596354751238","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":"2078271554377764239.mp4"}
+{"uid":"14238618055172075388","text":"\u003ctask:success:discrete:True\u003e\nPut brown 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put brown 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 the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in the organizer 2- place brown packet in the organizer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e","video":"4834105211086396968.mp4"}
+{"uid":"11868843974492360974","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":"923185442408818413.mp4"}
+{"uid":"12723536250376775273","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 into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the organizer 2- place brown packet in the organizer 3- place brown packet in the organizer 4- place brown packet in the organizer 5- place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3044404317215523238.mp4"}
+{"uid":"196223744393321373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10205718452504566975.mp4"}
+{"uid":"10029532615266589677","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":"461263826153488449.mp4"}
+{"uid":"16069259551756867161","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":"6834657178123534572.mp4"}
+{"uid":"13509795915006589296","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the organizer 2- place white packet in the organizer 3- place white packet in the organizer 4- place brown packet in the organizer 5- place brown packet in the 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  packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16262833096480609126.mp4"}
+{"uid":"6690998498694832867","text":"\u003ctask:success:discrete:True\u003e\nPut white 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in the organizer 2- place brown packet in the organizer 3- place brown packet in the organizer 4- place brown packet in the organizer 5- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put white packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace brown packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8688916707351289267.mp4"}
+{"uid":"6583252848749757950","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2974987164557783346.mp4"}
+{"uid":"15556706879398136906","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer Q: immediate next step? \u003cPRED\u003eA: Put two brown 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 two brown 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 two brown sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut two brown 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put two brown 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 the  packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put two brown sugar packets in the organiser 2- put the  packets into the organizer 3- place pink packet in the organizer 4- place two pink packets in the organizer 5- place white packet in the organizer\n\u003c/PRED\u003e","video":"17568911105197849278.mp4"}
+{"uid":"8178290214858685695","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer 11- place brown packet in the organizer 12- Put brown sugar packet in the organiser Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut brown 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer 11- place brown packet in the organizer 12- Put brown 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 brown sugar packet in the organiser\n\u003c/PRED\u003e","video":"3704567045705145458.mp4"}
+{"uid":"12049886523851971979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the scrub 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":"1488831782282668926.mp4"}
+{"uid":"1032275030399101974","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":"10810998162235597832.mp4"}
+{"uid":"4428860090971916979","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put 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 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 brown sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put brown sugar packet in the organiser 2- place brown packet in the organizer 3- place brown packet in the organizer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer Q: immediate next step? \u003cPRED\u003eA: Put brown sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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","video":"8995134668059038775.mp4"}
+{"uid":"7045459334823303891","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":"9041272954882692926.mp4"}
+{"uid":"372239338325709842","text":"\u003ctask:success:discrete:True\u003e\nplace brown packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e","video":"9320440063363636364.mp4"}
+{"uid":"17697258206286122733","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue cup 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":"18051481612628066501.mp4"}
+{"uid":"3626672842792622338","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6402668468823140375.mp4"}
+{"uid":"7693723074255912571","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut brown 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer 11- Put brown sugar packet in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer 11- Put brown sugar packet in the organiser Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put brown sugar packet in the organiser\n\u003c/PRED\u003e","video":"16807468786441917510.mp4"}
+{"uid":"10880401529214503695","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  packets into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14550074390870751045.mp4"}
+{"uid":"3732376121349000771","text":"\u003ctask:success:discrete:False\u003e\nPut white 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 white packet in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put white 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 white packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut white packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put white packet in the organiser 2- place white packet in the organizer 3- place brown packet in the organizer 4- place brown packet in the organizer 5- place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer Q: immediate next step? \u003cPRED\u003eA: Put white packet in the organiser\n\u003c/PRED\u003e","video":"2077633536688280785.mp4"}
+{"uid":"13154735496141187997","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place two pink packets in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace two pink packets in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11857459178977715172.mp4"}
+{"uid":"16167031795586940567","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the 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":"17402044678529324611.mp4"}
+{"uid":"14218088735503299113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork 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":"9982226259940380990.mp4"}
+{"uid":"3761689627809802924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the green glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15960425904020463652.mp4"}
+{"uid":"10673453938944339522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange ball in the glass tube Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"382075403239853725.mp4"}
+{"uid":"1605409930539587386","text":"\u003ctask:success:discrete:False\u003e\nplace pink packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink packet in the organizer 2- place pink packet in the organizer 3- place two pink packets in the organizer 4- place white packet in the organizer 5- place white packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place pink packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place pink packet in the organizer\n\u003c/PRED\u003e","video":"14681176188252262900.mp4"}
+{"uid":"15985765909286935298","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packet into the 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  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the organizer 2- place brown packet in the organizer 3- place brown packet in the organizer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e","video":"931668849515956720.mp4"}
+{"uid":"10638795605934944000","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet into the small 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":"14688052298440878469.mp4"}
+{"uid":"3196622101860330284","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the organizer 2- place brown packet in the organizer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e","video":"15877255268630462945.mp4"}
+{"uid":"10579617922020299633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the royal gold 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":"4001766611303081203.mp4"}
+{"uid":"1074444835008508134","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the 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  packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the organizer 2- place white packet in the organizer 3- place brown packet in the organizer 4- place brown packet in the organizer 5- place brown packet in the organizer\n\u003c/PRED\u003e","video":"15164220472886162946.mp4"}
+{"uid":"17675692350469827595","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put brown 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 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 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 brown sugar packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer Q: immediate next step? \u003cPRED\u003eA: Put brown sugar packet in the organiser\n\u003c/PRED\u003e","video":"9878723416980152987.mp4"}
+{"uid":"13124385532238065054","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":"12234112320977584845.mp4"}
+{"uid":"2056248460989207954","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the organizer 2- place brown packet in the organizer 3- place brown packet in the organizer 4- place brown packet in the organizer 5- 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  packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e","video":"14376860581569076718.mp4"}
+{"uid":"7086022015932623625","text":"\u003ctask:success:discrete:True\u003e\nplace brown packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e","video":"12268058162164278830.mp4"}
+{"uid":"12804276346671479568","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put pink packets in the organiser 2- place pink packet in the organizer 3- place two pink packets in the organizer 4- place white packet in the organizer 5- place white packet in the 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 pink packets in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer Q: immediate next step? \u003cPRED\u003eA: Put pink 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 packets in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pink 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:success:discrete:False\u003e\nPut pink packets in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pink packets in the organiser\n\u003c/PRED\u003e","video":"5874607729026470859.mp4"}
+{"uid":"10083216630111037310","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 into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the organizer 2- place two pink packets in the organizer 3- place white packet in the organizer 4- place white packet in the organizer 5- place white packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e","video":"9591229611373224679.mp4"}
+{"uid":"1462552033819820698","text":"\u003ctask:success:discrete:True\u003e\nplace pink packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink packet in the organizer\n\u003c/PRED\u003e","video":"15101649294640331116.mp4"}
+{"uid":"11058597646451288853","text":"\u003ctask:success:discrete:True\u003e\nplace two brown packets in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place two brown packets in the organizer\n\u003c/PRED\u003e","video":"15899136297962377124.mp4"}
+{"uid":"2579885667914544329","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5362079473012600557.mp4"}
+{"uid":"14934519307841743567","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 white packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place white packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place white packet in the organizer 2- place brown packet in the organizer 3- place brown packet in the organizer 4- place brown packet in the organizer 5- place brown packet in the organizer\n\u003c/PRED\u003e","video":"4553582645039353213.mp4"}
+{"uid":"1418318032447202312","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: none Q: immediate next step? \u003cPRED\u003eA: place two brown packets in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place two brown packets in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place two brown packets in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place two brown packets in the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place two brown packets in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace two brown packets in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace two brown packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6311443167505136666.mp4"}
+{"uid":"661162564195490940","text":"\u003ctask:success:discrete:True\u003e\nPut pink packets in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put pink packets in the organiser\n\u003c/PRED\u003e","video":"11967519202866872849.mp4"}
+{"uid":"18345299210862837866","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place two pink packets in the organizer 2- place white packet in the organizer 3- place white packet in the organizer 4- place white packet in the organizer 5- place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace two pink packets in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place two pink packets in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace two pink packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place two pink packets in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place two pink packets in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place two pink packets in the organizer\n\u003c/PRED\u003e","video":"2908836877544427125.mp4"}
+{"uid":"10617661266465258116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5874325892717824665.mp4"}
+{"uid":"16792480873124686909","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in the organizer 2- put the  packets into the organizer 3- place pink packet in the organizer 4- place two pink packets in the organizer 5- place white packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace brown packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer Q: immediate next step? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e","video":"14645562517921768832.mp4"}
+{"uid":"11859301800023420737","text":"\u003ctask:success:discrete:True\u003e\nplace brown packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e","video":"6040093973280768629.mp4"}
+{"uid":"8745757281222928339","text":"\u003ctask:success:discrete:True\u003e\nPut two brown sugar packets in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put two brown sugar packets in the organiser\n\u003c/PRED\u003e","video":"5141502555697590268.mp4"}
+{"uid":"10044950153631629503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the drawer of red markers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1743224935422509339.mp4"}
+{"uid":"8562135177927104051","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the right drawer 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":"11183203449812204006.mp4"}
+{"uid":"10821088376729961036","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put pink packets in the organiser 2- place white packet in the organizer 3- place white packet in the organizer 4- place white packet in the organizer 5- place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pink packets in the organiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer Q: immediate next step? \u003cPRED\u003eA: Put pink 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 packets in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pink 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 packets in the organiser\n\u003c/PRED\u003e","video":"10702488881047262195.mp4"}
+{"uid":"18089253241667916403","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate 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":"15996463119325291478.mp4"}
+{"uid":"16716975543922419597","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":"467033995036040909.mp4"}
+{"uid":"7577957207015380022","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer 11- place brown packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer 11- place brown packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in the organizer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e","video":"4819871360052733749.mp4"}
+{"uid":"4031873463186520064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15012859726280655260.mp4"}
+{"uid":"14233540089150364446","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet 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":"1972474503606961167.mp4"}
+{"uid":"16084705275876058025","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  packets into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  packets into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packets into the organizer 2- place pink packet in the organizer 3- place two pink packets in the organizer 4- place white packet in the organizer 5- place white packet in the organizer\n\u003c/PRED\u003e","video":"13620237627709373543.mp4"}
+{"uid":"5938203705368563255","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put white packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut white 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":"668586647609354967.mp4"}
+{"uid":"12952443467849062234","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place white packet in the organizer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place white packet in the organizer 2- place white packet in the organizer 3- place brown packet in the organizer 4- place brown packet in the organizer 5- place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place white packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packet in the organizer\n\u003c/PRED\u003e","video":"2882203755079071561.mp4"}
+{"uid":"4185983799458681445","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packets into the organizer 2- place white packet in the organizer 3- place white packet in the organizer 4- place white packet in the organizer 5- place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  packets into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e","video":"13424761638802813561.mp4"}
+{"uid":"7697746102182482653","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9771491927484403909.mp4"}
+{"uid":"6428145750915230752","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1591121223093204528.mp4"}
+{"uid":"9679629074917762885","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place white packet in the organizer 2- place white packet in the organizer 3- place white packet in the organizer 4- place brown packet in the organizer 5- place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white packet in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place white packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer Q: immediate next step? \u003cPRED\u003eA: place white packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace white packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place white packet in the organizer\n\u003c/PRED\u003e","video":"15843220556142028386.mp4"}
+{"uid":"6735135173992239374","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packets into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  packets into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3809016089831991424.mp4"}
+{"uid":"6609063552052670163","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5933026110912062423.mp4"}
+{"uid":"12827809675614534465","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut two brown 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: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 two brown sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut two brown 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: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 two brown sugar packets in the organiser 2- put the  packets into the organizer 3- place pink packet in the organizer 4- place two pink packets in the organizer 5- place white packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put two brown 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 two brown sugar packets in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put two brown sugar packets in the organiser\n\u003c/PRED\u003e","video":"17061174725591080915.mp4"}
+{"uid":"1262101903856571331","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place brown packet in the organizer 2- place brown packet in the organizer 3- place brown packet in the organizer 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place brown packet in the organizer\n\u003c/PRED\u003e","video":"2582337968677976910.mp4"}
+{"uid":"7403106929489382212","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":"4847443806118423960.mp4"}
+{"uid":"1937817214422542037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9991543394437988183.mp4"}
+{"uid":"17281824375392344815","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut white 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 white 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 the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put white packet in the organiser 2- place brown packet in the organizer 3- place brown packet in the organizer 4- place brown packet in the organizer 5- place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer Q: immediate next step? \u003cPRED\u003eA: Put white 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 white packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put white packet in the organiser\n\u003c/PRED\u003e","video":"2896548659597489577.mp4"}
+{"uid":"7542552858080034352","text":"\u003ctask:success:discrete:True\u003e\nplace white packet in the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place white packet in the organizer\n\u003c/PRED\u003e","video":"10008705448908651261.mp4"}
+{"uid":"14117732111384651995","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brownie into 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":"7560846190738439552.mp4"}
+{"uid":"10792993291124254004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the toffee in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11239806127753881114.mp4"}
+{"uid":"15542163178653476110","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  packet into the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16735671621612211899.mp4"}
+{"uid":"10631055142497515841","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 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 the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put pink packet in the organiser 2- place white packet in the organizer 3- place white packet in the organizer 4- place white packet in the organizer 5- place brown packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put pink packet in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut pink packet in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer Q: immediate next step? \u003cPRED\u003eA: Put pink packet in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut pink 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put pink packet in the organiser\n\u003c/PRED\u003e","video":"6375793730371407710.mp4"}
+{"uid":"13251674300422823020","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2761650223820920608.mp4"}
+{"uid":"432953467347689355","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 into the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- put the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer 11- place brown packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet into the organizer 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 the  packets into the organizer 2- place brown packet in the organizer 3- put the  packets into the organizer 4- place pink packet in the organizer 5- place two pink packets in the organizer 6- place white packet in the organizer 7- place white packet in the organizer 8- place white packet in the organizer 9- place brown packet in the organizer 10- place brown packet in the organizer 11- place brown packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  packet into the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2323243741059916454.mp4"}
+{"uid":"5468895291979885501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13804622934007421007.mp4"}
+{"uid":"11757395422631798261","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen 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: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the black table 2- put the pen in the trolley stand 3- put the pen in the trolley stand 4- put the pen in the trolley stand 5- place the wipes packet in the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e","video":"3211742941448618022.mp4"}
+{"uid":"5983922058227911217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen case 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":"5312624877909358354.mp4"}
+{"uid":"6824062319417456171","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the trolley 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":"4865948331805753614.mp4"}
+{"uid":"16713040876663140675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"686377384339516610.mp4"}
+{"uid":"124100774632856340","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":"17380145591582031647.mp4"}
+{"uid":"9065029132317523286","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the wipes packet in the trolley stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand 8- put the pen in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the wipes packet in the trolley stand 2- place the trolley stand in the corner of the wall 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand 8- put the pen in the trolley stand Q: immediate next step? \u003cPRED\u003eA: place the wipes packet in the trolley stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the wipes packet in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the wipes packet in the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wipes packet in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wipes packet in the trolley 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":"15909597154901987508.mp4"}
+{"uid":"10615357858268563001","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen from the table 2- put the pen in the trolley stand 3- place the wipes packet in the trolley stand 4- place the trolley stand in the corner of the wall 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e","video":"5592307468056188958.mp4"}
+{"uid":"16237917466136759725","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":"981989241083931862.mp4"}
+{"uid":"2831499923270851575","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the paper from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the paper from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick up the paper from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the paper 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:success:discrete:True\u003e\nplace the sanitizer bottle 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:affordance:discriminative:discrete:True\u003e\npick up the paper from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the paper from the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sanitizer bottle on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the paper from the table 2- pick up the pen from the table 3- pick up the pen from the table 4- put the pen in the trolley stand 5- put the pen in the trolley stand\n\u003c/PRED\u003e","video":"7872329590890255036.mp4"}
+{"uid":"5405606804570958055","text":"\u003ctask:success:discrete:True\u003e\ndrop the sticky note in the trolley 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: drop the sticky note in the trolley stand\n\u003c/PRED\u003e","video":"1074495320432135309.mp4"}
+{"uid":"6944175452512886485","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sanitizer in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the sanitizer in the trolley 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":"16591762945719057791.mp4"}
+{"uid":"4105538008872580054","text":"\u003ctask:success:discrete:True\u003e\npick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e","video":"14327153453029578467.mp4"}
+{"uid":"14026932916331514876","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: put the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the trolley 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 office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the trolley stand 2- place the wipes packet in the trolley stand 3- place the trolley stand in the corner of the wall 4- done\n\u003c/PRED\u003e","video":"9047659878891386833.mp4"}
+{"uid":"7169327984113240094","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2835409597075007241.mp4"}
+{"uid":"9409687530589792403","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen from the table 2- pick up the pen from the table 3- put the pen in the trolley stand 4- put the pen in the trolley stand 5- put the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e","video":"15410997213520853927.mp4"}
+{"uid":"13439170087175084374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14021520416074924776.mp4"}
+{"uid":"17609950835943821315","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the trolley 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":"17486738604993762867.mp4"}
+{"uid":"15938178758590649564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"17801890386184118473.mp4"}
+{"uid":"10113757715942965533","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand Q: immediate next step? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the black table 2- place the wipes packet in the trolley stand 3- place the trolley stand in the corner of the wall 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen 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:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen 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":"6738566614706863664.mp4"}
+{"uid":"17065228052420881734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the chair backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11189236662656210548.mp4"}
+{"uid":"11053969174005411924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11126813517859497494.mp4"}
+{"uid":"8254362275818205186","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen 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:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the black table 2- pick up the pen from the table 3- pick up the pen from the table 4- put the pen in the trolley stand 5- put the pen in the trolley stand\n\u003c/PRED\u003e","video":"977059822723954605.mp4"}
+{"uid":"13629610327066383920","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the trolley stand\n\u003c/PRED\u003e","video":"4387247248984838804.mp4"}
+{"uid":"5139251117335925169","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand 8- put the pen in the trolley stand 9- place the wipes packet in the trolley stand Q: immediate next step? \u003cPRED\u003eA: place the table in the corner\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the table in the corner Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 table in the corner\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the table in the corner\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the table in the corner Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 table in the corner\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand 8- put the pen in the trolley stand 9- place the wipes packet in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the table in the corner 2- done\n\u003c/PRED\u003e","video":"2120626156853575971.mp4"}
+{"uid":"9579062826069742742","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen from the table 2- place the wipes packet in the trolley stand 3- place the trolley stand in the corner of the wall 4- done\n\u003c/PRED\u003e","video":"11270853036242755776.mp4"}
+{"uid":"5584224227234719264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker in the stationary 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":"6838646295347347598.mp4"}
+{"uid":"13670415658877029089","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen from the table 2- pick up the pen from the table 3- pick up the pen from the table 4- put the pen in the trolley stand 5- put the pen in the trolley stand\n\u003c/PRED\u003e","video":"5519468142015173067.mp4"}
+{"uid":"8604878101223987309","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana 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":"15587240971940159266.mp4"}
+{"uid":"10982293901182712101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOn the tap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8357886284720783933.mp4"}
+{"uid":"6475584498235212906","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":"2695515652678108771.mp4"}
+{"uid":"1796079328504217381","text":"\u003ctask:success:discrete:False\u003e\nplace the sanitizer bottle 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the sanitizer bottle on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sanitizer bottle 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sanitizer bottle on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the sanitizer bottle on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the sanitizer bottle on the black table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sanitizer bottle on the black table\n\u003c/PRED\u003e","video":"6333685633468946645.mp4"}
+{"uid":"4348076842426420817","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the yellow packet on the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow packet on the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow packet on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand 8- put the pen in the trolley stand Q: immediate next step? \u003cPRED\u003eA: place the yellow packet on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand 8- put the pen in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow packet on the black table 2- place the trolley stand in the corner of the wall 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow 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","video":"1748336446734945975.mp4"}
+{"uid":"5865336539735277521","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sanitizer in the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the sanitizer in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sanitizer in the trolley 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 office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the sanitizer in the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sanitizer in the trolley stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the sanitizer in the trolley stand 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sanitizer in the trolley 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":"4336902752539784549.mp4"}
+{"uid":"5762416332094884","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the pen 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":"16182511707304351173.mp4"}
+{"uid":"2818796042238903048","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop chocolate 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":"7992302313739876369.mp4"}
+{"uid":"16854135871068045263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16648513297888542460.mp4"}
+{"uid":"11590142393348489034","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: put the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: put the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the trolley 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:success:discrete:True\u003e\npick up the pen 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:affordance:discriminative:discrete:True\u003e\nput the pen in the trolley 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the trolley stand 2- put the pen in the trolley stand 3- put the pen in the trolley stand 4- place the wipes packet in the trolley stand 5- place the trolley stand in the corner of the wall\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the trolley stand\n\u003c/PRED\u003e","video":"11790307387457342858.mp4"}
+{"uid":"10196969261256307554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut last pista in 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":"18140183190694683931.mp4"}
+{"uid":"10136647318929048075","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the black pen in the trolley stand 2- pick up the pen from the table 3- pick up the pen from the table 4- put the pen in the trolley stand 5- put the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black pen in the trolley 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 office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: put the black pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table Q: immediate next step? \u003cPRED\u003eA: put the black pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black pen in the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black pen in the trolley stand\n\u003c/PRED\u003e","video":"5156032527752555301.mp4"}
+{"uid":"9221384037114458633","text":"\u003ctask:success:discrete:True\u003e\npick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e","video":"2550865555600650768.mp4"}
+{"uid":"2103713410897072279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace orange inside 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":"4998789095087299726.mp4"}
+{"uid":"10904462790806444102","text":"\u003ctask:success:discrete:True\u003e\nplace the wipes packet in the trolley 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 wipes packet in the trolley stand\n\u003c/PRED\u003e","video":"5668740547633989116.mp4"}
+{"uid":"5530275977769927101","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the trolley stand 2- put the pen in the trolley stand 3- place the wipes packet in the trolley stand 4- place the trolley stand in the corner of the wall 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 trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the trolley 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 office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: put the pen in the trolley stand\n\u003c/PRED\u003e","video":"16702156031428528988.mp4"}
+{"uid":"14739478184348493544","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand Q: immediate next step? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen 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: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the black table 2- put the pen in the trolley stand 3- place the wipes packet in the trolley stand 4- place the trolley stand in the corner of the wall 5- done\n\u003c/PRED\u003e","video":"4216477794274355436.mp4"}
+{"uid":"3656092678604701305","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4267866643758496199.mp4"}
+{"uid":"12629076583275251262","text":"\u003ctask:success:discrete:False\u003e\nplace the trolley stand in the corner of the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand 8- put the pen in the trolley stand 9- place the wipes packet in the trolley stand Q: immediate next step? \u003cPRED\u003eA: place the trolley stand in the corner of the wall\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the trolley stand in the corner of the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the trolley stand in the corner of the wall\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand 8- put the pen in the trolley stand 9- place the wipes packet in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the trolley stand in the corner of the wall 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the trolley stand in the corner of the wall\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the trolley stand in the corner of the wall\n\u003c/PRED\u003e","video":"16966220547529550422.mp4"}
+{"uid":"16007679404991670190","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the pen 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":"11607145474072098087.mp4"}
+{"uid":"2404213741939286778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red 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":"13158447631014658162.mp4"}
+{"uid":"8495476358700601897","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3242473187525063789.mp4"}
+{"uid":"4672826188386838688","text":"\u003ctask:success:discrete:True\u003e\npick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e","video":"6026341044540552453.mp4"}
+{"uid":"3479255537192696993","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand 8- put the pen in the trolley stand 9- pick up the package from the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand 8- put the pen in the trolley stand 9- pick up the package from 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: pick up the package from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the package 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":"9555125695493763483.mp4"}
+{"uid":"2942727996428875133","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white paper 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white paper on the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table Q: immediate next step? \u003cPRED\u003eA: place the white paper on the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white paper on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the white paper on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the white paper on the black table 2- pick up the pen from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- put the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white paper 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":"3138893467296383764.mp4"}
+{"uid":"5070312317784093272","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the black table 2- pick up the pen from the table 3- put the pen in the trolley stand 4- put the pen in the trolley stand 5- put the pen in the trolley stand\n\u003c/PRED\u003e","video":"17808982599208500697.mp4"}
+{"uid":"4026893744861012621","text":"\u003ctask:success:discrete:False\u003e\npick up the package 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:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick up the package from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand 8- put the pen in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the package from the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the package from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand 8- put the pen in the trolley stand Q: immediate next step? \u003cPRED\u003eA: pick up the package from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the package from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the package from the table\n\u003c/PRED\u003e","video":"6684742756837896209.mp4"}
+{"uid":"12327812770538324333","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"9843317498380755195.mp4"}
+{"uid":"2592400925278402857","text":"\u003ctask:success:discrete:False\u003e\ndrop the sticky note in the trolley 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 office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table Q: immediate next step? \u003cPRED\u003eA: drop the sticky note in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sticky note in the trolley 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 office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sticky note in the trolley stand 2- pick up the pen from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- put the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the sticky note in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the sticky note in the trolley stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the sticky note in the trolley stand\n\u003c/PRED\u003e","video":"8632667238113964576.mp4"}
+{"uid":"11073885628912473988","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the trolley stand in the corner of the wall\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand 8- put the pen in the trolley stand 9- place the wipes packet in the trolley stand 10- place the trolley stand in the corner of the wall Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand 8- put the pen in the trolley stand 9- place the wipes packet in the trolley stand 10- place the trolley stand in the corner of the wall Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the trolley stand in the corner of the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8017815370542079343.mp4"}
+{"uid":"14649422745454547895","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the trolley 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":"13323386813102916537.mp4"}
+{"uid":"17504466213954202438","text":"\u003ctask:success:discrete:True\u003e\npick up the paper from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the paper from the table\n\u003c/PRED\u003e","video":"14197842417630180796.mp4"}
+{"uid":"6417705324930486131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9791656362646931123.mp4"}
+{"uid":"3519859370109019051","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black pen in the trolley 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":"9088429165310124901.mp4"}
+{"uid":"7241893568575722916","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":"7270606230408254956.mp4"}
+{"uid":"7384514316190832282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the measuring tape into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11642211286904044799.mp4"}
+{"uid":"12537919210960436944","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table 6- put the pen in the trolley stand 7- put the pen in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen from the table 2- place the trolley stand in the corner of the wall 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e","video":"12761284111445767632.mp4"}
+{"uid":"12030831491159378143","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen 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":"5638191964102556023.mp4"}
+{"uid":"6887296929451407228","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":"1650347769301850548.mp4"}
+{"uid":"3604918775175238734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachios in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14066664924473262850.mp4"}
+{"uid":"15798569288589843792","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the black table 2- put the pen in the trolley stand 3- put the pen in the trolley stand 4- place the wipes packet in the trolley stand 5- place the trolley stand in the corner of the wall\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table 5- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the black table\n\u003c/PRED\u003e","video":"8545705234797799982.mp4"}
+{"uid":"8335381525278740868","text":"\u003ctask:success:discrete:False\u003e\nplace the pen in the trolley 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: place the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the trolley stand 2- put the pen in the trolley stand 3- put the pen in the trolley stand 4- put the pen in the trolley stand 5- place the wipes packet in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the trolley 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 office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: place the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the trolley stand\n\u003c/PRED\u003e","video":"9692042512263962705.mp4"}
+{"uid":"7426356640575088459","text":"\u003ctask:success:discrete:True\u003e\npick up the bottle from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the bottle from the table\n\u003c/PRED\u003e","video":"13543905881462479711.mp4"}
+{"uid":"12254685495597302413","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":"9681553751799178486.mp4"}
+{"uid":"9303417840249881048","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":"13819068567826423608.mp4"}
+{"uid":"15251219091994280244","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- pick up the bottle from the table 2- pick up the paper from the table 3- pick up the pen from the table 4- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen from the table 2- put the pen in the trolley stand 3- put the pen in the trolley stand 4- put the pen in the trolley stand 5- place the wipes packet in the trolley stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e","video":"126270062552532880.mp4"}
+{"uid":"1419787672415401971","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the jar 2- put the candy in the jar 3- put the candy in the jar 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar Q: immediate next step? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e","video":"5600431744048985574.mp4"}
+{"uid":"14286907444500615602","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e","video":"1937750567011169503.mp4"}
+{"uid":"13479828573782157639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the 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":"12366575026545963037.mp4"}
+{"uid":"2453020065130464840","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":"2391815147952623083.mp4"}
+{"uid":"12485122760865352376","text":"\u003ctask:success:discrete:True\u003e\nput the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e","video":"6189816166294837802.mp4"}
+{"uid":"10988333528098350177","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the jar 2- place the pink packet in glass container 3- put the candy in the jar 4- put the candy in the jar 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e","video":"13995012044545573034.mp4"}
+{"uid":"1404134816929135725","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet in 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:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in container 2- Put brown packet in the tray 3- put the brown packet in the tray 4- Put a toffee into the glass jar 5- Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e","video":"4326946416881336835.mp4"}
+{"uid":"13017575158157923266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the toffee on the table from tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2999521418141261380.mp4"}
+{"uid":"14522373364210792095","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":"13299547223751487351.mp4"}
+{"uid":"16557253875035752517","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput popcorn 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":"9839926689065611433.mp4"}
+{"uid":"2922563828406678178","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"3333446938817261000.mp4"}
+{"uid":"1983822464954416142","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"4053316346506232938.mp4"}
+{"uid":"1876604346337619919","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the tray 2- Put a toffee into the glass jar 3- place the pink packet in glass container 4- put the candy in the jar 5- put the candy in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e","video":"17665247356343040359.mp4"}
+{"uid":"12763472917368491310","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow packet in glass container 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the yellow packet in glass container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container Q: immediate next step? \u003cPRED\u003eA: place the yellow packet in glass container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow packet in glass container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow packet in glass container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow packet in glass container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow packet in glass container\n\u003c/PRED\u003e","video":"17677328298490055173.mp4"}
+{"uid":"1172400079794588310","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container 10- put the candy in the jar Q: immediate next step? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container 10- put the candy in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the jar 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e","video":"7617739277966729238.mp4"}
+{"uid":"4736659235200017976","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the yellow packet in glass container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow packet in glass container 2- place the pink packet in glass container 3- put the candy in the jar 4- put the candy in the jar 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow packet in glass container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow packet in glass container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow packet in glass 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow packet in glass container\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the yellow packet in glass container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16029759597197912597.mp4"}
+{"uid":"3651613205091930241","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container 10- put the candy in the jar 11- Put a toffee into the glass jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a toffee into the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container 10- put the candy in the jar 11- Put a toffee into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3971651984875044537.mp4"}
+{"uid":"7209866964610274282","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink packet in glass 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar Q: immediate next step? \u003cPRED\u003eA: place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet in glass container 2- place the pink packet in glass container 3- put the candy in the jar 4- put the candy in the jar 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet in glass 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","video":"12507871498307619657.mp4"}
+{"uid":"14629544816939516644","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":"85277272661547438.mp4"}
+{"uid":"1331250005817163617","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a toffee into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar Q: immediate next step? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put a toffee into the glass jar 2- done\n\u003c/PRED\u003e","video":"3994616780415169844.mp4"}
+{"uid":"9731389165930292695","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":"3989394542147913654.mp4"}
+{"uid":"6550554938374201441","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the tray 2- put the brown packet in the tray 3- Put brown packet in the tray 4- put the brown packet in the tray 5- Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e","video":"18437435124195707855.mp4"}
+{"uid":"2759128175179364606","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a toffee into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar Q: immediate next step? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put a toffee into the glass jar 2- put the candy in the jar 3- put the candy in the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a toffee into the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9036758262281097208.mp4"}
+{"uid":"2892741479912614374","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e","video":"155626999261137054.mp4"}
+{"uid":"9144499529378126036","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar Q: immediate next step? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the jar 2- place the pink packet in glass container 3- put the candy in the jar 4- put the candy in the jar 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e","video":"17075787544942820449.mp4"}
+{"uid":"17249937522780097460","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in container 2- Put a toffee into the glass jar 3- place the pink packet in glass container 4- put the candy in the jar 5- put the candy in the jar\n\u003c/PRED\u003e","video":"1928113200470159079.mp4"}
+{"uid":"4624446737954292641","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the wire 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":"1155960201735814141.mp4"}
+{"uid":"14798934843453152720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep spoon 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":"15133779638303199566.mp4"}
+{"uid":"14836556454572222239","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container 10- put the candy in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put a toffee into the glass jar 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container 10- put the candy in the jar Q: immediate next step? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a toffee into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e","video":"11789531875141798079.mp4"}
+{"uid":"8199820033625341325","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- Put brown packet in the tray 5- put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e","video":"12614295558963585806.mp4"}
+{"uid":"5654044556269921437","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6032160245966270362.mp4"}
+{"uid":"16117427745138605817","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":"1830021854165598349.mp4"}
+{"uid":"474874320859762848","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar Q: immediate next step? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put a toffee into the glass jar 2- place the pink packet in glass container 3- put the candy in the jar 4- put the candy in the jar 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a toffee into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9058449971069485385.mp4"}
+{"uid":"18057961495869988314","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- Put a toffee into the glass jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- Put a toffee into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a toffee into the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8867361342581569314.mp4"}
+{"uid":"13978393034482487133","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- Put brown packet in the tray 4- put the brown packet in the tray 5- Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the tray\n\u003c/PRED\u003e","video":"5442462896547702812.mp4"}
+{"uid":"12680265602632277657","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":"3653904972722436246.mp4"}
+{"uid":"13621637795592265281","text":"\u003ctask:success:discrete:False\u003e\nPut brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put brown packet in the tray 2- put the brown packet in the tray 3- Put a toffee into the glass jar 4- Put a toffee into the glass jar 5- place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put brown packet in the tray\n\u003c/PRED\u003e","video":"5837363080836813741.mp4"}
+{"uid":"11677594625533304134","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14257934647037419099.mp4"}
+{"uid":"14140999161994923016","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17099526928134273515.mp4"}
+{"uid":"18433043959061681808","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container 10- put the candy in the jar 11- place the pink packet in glass container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pink packet in glass 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:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container 10- put the candy in the jar 11- place the pink packet in glass container Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"2120604258198409937.mp4"}
+{"uid":"17829395675999472237","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the silver blue 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":"6339640869024705010.mp4"}
+{"uid":"16755485036956253138","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":"2223026076574024568.mp4"}
+{"uid":"5673706938125354271","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put a brown packet in the tray 2- Put brown packet in the tray 3- put the brown packet in the tray 4- Put a toffee into the glass jar 5- Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"635082845504898668.mp4"}
+{"uid":"3587834323960546166","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink marker in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8043589110655371282.mp4"}
+{"uid":"12925189515262989283","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":"5195174005497822241.mp4"}
+{"uid":"5973372038571062503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red unreal 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":"15312776000320293723.mp4"}
+{"uid":"10071875279864881761","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":"3297597646982522674.mp4"}
+{"uid":"10137518597411636692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3546135342929518685.mp4"}
+{"uid":"10545569555086318213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in 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":"9625189690389138162.mp4"}
+{"uid":"9064931058004539284","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a toffee into the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5663168731283007913.mp4"}
+{"uid":"1142501324662740262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pistachio in 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":"924241395384145703.mp4"}
+{"uid":"6388223271281344821","text":"\u003ctask:success:discrete:True\u003e\nplace the pink packet in glass container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink packet in glass container\n\u003c/PRED\u003e","video":"4070316034828916001.mp4"}
+{"uid":"1319476464685132840","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container 10- put the candy in the jar 11- put the candy in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container 10- put the candy in the jar 11- put the candy in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e","video":"6752645230378892237.mp4"}
+{"uid":"17742347153327089507","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a toffee into the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a toffee into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put a toffee into the glass jar 2- Put a toffee into the glass jar 3- place the pink packet in glass container 4- put the candy in the jar 5- put the candy in the jar\n\u003c/PRED\u003e","video":"13097847387849615182.mp4"}
+{"uid":"14875268281402225433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the door handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13278243374786086728.mp4"}
+{"uid":"8831365997151266778","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7363409075800795057.mp4"}
+{"uid":"14722345435535966660","text":"\u003ctask:success:discrete:True\u003e\nput the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e","video":"9685510284939145539.mp4"}
+{"uid":"6509071218063893117","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2585350451393134312.mp4"}
+{"uid":"13662780565235742705","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the tray 2- put the brown packet in the tray 3- Put a toffee into the glass jar 4- Put a toffee into the glass jar 5- place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e","video":"727278797466810330.mp4"}
+{"uid":"7518984840607296075","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the tray 2- put the brown packet in the tray 3- Put a toffee into the glass jar 4- Put a toffee into the glass jar 5- place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the tray\n\u003c/PRED\u003e","video":"14634841787620415916.mp4"}
+{"uid":"6621193386399642926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper cup 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":"10266342943762657978.mp4"}
+{"uid":"4216729291342158442","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put a brown packet in the tray 2- Put brown packet in the tray 3- put the brown packet in the tray 4- Put a toffee into the glass jar 5- Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a brown packet in the tray\n\u003c/PRED\u003e","video":"6922498416703731381.mp4"}
+{"uid":"6417996633479750067","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container 10- put the candy in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet in glass container 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet in glass container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink packet in glass 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container 10- put the candy in the jar Q: immediate next step? \u003cPRED\u003eA: place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet in glass container\n\u003c/PRED\u003e","video":"8491080059165401154.mp4"}
+{"uid":"14398202944700902873","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":"12221110789358590443.mp4"}
+{"uid":"16149608511623254622","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the yellow packet in glass container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the yellow packet in glass container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12008955075130030535.mp4"}
+{"uid":"16773880107514621684","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put brown packet in the tray 2- Put a toffee into the glass jar 3- Put a toffee into the glass jar 4- place the pink packet in glass container 5- put the candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10752452775420524311.mp4"}
+{"uid":"14577215857288697648","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the jar 2- put the candy in the jar 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar Q: immediate next step? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e","video":"5893661423456320131.mp4"}
+{"uid":"1670861202053835427","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pink packet in glass container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16449414212235934740.mp4"}
+{"uid":"13484321951716052912","text":"\u003ctask:success:discrete:True\u003e\nput the candy in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the jar\n\u003c/PRED\u003e","video":"769091017085856102.mp4"}
+{"uid":"18161203758616263089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"17547564208695796332.mp4"}
+{"uid":"15894577785195019443","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container 10- place the yellow packet in glass container Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar 9- place the pink packet in glass container 10- place the yellow packet in glass container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the yellow packet in glass container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the yellow packet in glass container\n\u003c/PRED\u003e","video":"729129849123263255.mp4"}
+{"uid":"8770038646959033517","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18146853922357332180.mp4"}
+{"uid":"1959852772439505407","text":"\u003ctask:success:discrete:True\u003e\nPut a brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a brown packet in the tray\n\u003c/PRED\u003e","video":"6362082903571453837.mp4"}
+{"uid":"2535723008943830104","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in 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: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in container 2- Put a toffee into the glass jar 3- Put a toffee into the glass jar 4- place the pink packet in glass container 5- put the candy in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e","video":"16727993961210373887.mp4"}
+{"uid":"6160773822271934047","text":"\u003ctask:success:discrete:True\u003e\nPut a brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a brown packet in the tray\n\u003c/PRED\u003e","video":"10764399074104252027.mp4"}
+{"uid":"16202171918132947034","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet in glass container 2- put the candy in the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet in glass container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray 4- put the brown packet in the tray 5- Put brown packet in the tray 6- put the brown packet in the tray 7- Put a toffee into the glass jar 8- Put a toffee into the glass jar Q: immediate next step? \u003cPRED\u003eA: place the pink packet in glass container\n\u003c/PRED\u003e","video":"11605554138504317417.mp4"}
+{"uid":"10021970012837246836","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7593675895814727203.mp4"}
+{"uid":"13891988031378758481","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- Put a brown packet in the tray 2- put the brown packet in the tray 3- put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in container 2- put the brown packet in the tray 3- Put a toffee into the glass jar 4- Put a toffee into the glass jar 5- place the pink packet in glass container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e","video":"1057930347744871150.mp4"}
+{"uid":"5133882970884917980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen 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":"2629541510699623513.mp4"}
+{"uid":"12586693154522971968","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a toffee into the glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a toffee into the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5290270706184288175.mp4"}
+{"uid":"14823201727549372530","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":"9607608404129972905.mp4"}
+{"uid":"13539574655073933455","text":"\u003ctask:success:discrete:True\u003e\nplace the packet in container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in container\n\u003c/PRED\u003e","video":"4274704517249992245.mp4"}
+{"uid":"4682492649050472039","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16304077580770195392.mp4"}