diff --git "a/json/train/data-00017-of-00160.json" "b/json/train/data-00017-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00017-of-00160.json"
@@ -0,0 +1,1253 @@
+{"uid":"14332114892573531677","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6806379155807446134.mp4"}
+{"uid":"17915778472334001388","text":"\u003ctask:success:discrete:True\u003e\nPut the small white jar on the table mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the small white jar on the table mat\n\u003c/PRED\u003e","video":"7692190910972305395.mp4"}
+{"uid":"855536402467101441","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- put the bottle on the right side of table 2- place the spray bottle on right side of table 3- place the spray bottle on the right side of table 4- place the spray bottle on the right side of table 5- place the honey bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bottle on the right side of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bottle on the right side of table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: put the bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table Q: immediate next step? \u003cPRED\u003eA: put the bottle on the right side of table\n\u003c/PRED\u003e","video":"9396049313114385431.mp4"}
+{"uid":"10438801132064827667","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":"15894983189038616730.mp4"}
+{"uid":"17021319850897980602","text":"\u003ctask:success:discrete:True\u003e\nput the bottle on the right side 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: put the bottle on the right side of table\n\u003c/PRED\u003e","video":"11683404638740765212.mp4"}
+{"uid":"15450340641066445580","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle 9- place the honey bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green bottle near black bottle 2- put the honey bottle on the mat 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nmove arm 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\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: Place the green bottle near black bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle 9- place the honey bottle on the table Q: immediate next step? \u003cPRED\u003eA: Place the green bottle near black bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green bottle near black bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green bottle near black bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green bottle near black 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:success:discrete:False\u003e\nPlace the green bottle near black 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","video":"13694728820709759890.mp4"}
+{"uid":"6527914432949922366","text":"\u003ctask:success:discrete:False\u003e\nplace the spray bottle on the right side 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: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table Q: immediate next step? \u003cPRED\u003eA: place the spray bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spray bottle on the right side of table 2- place the spray bottle on the right side of table 3- place the honey bottle on the right side of table 4- move the bottle 5- place the honey bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spray bottle on the right side 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: place the spray bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spray bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: place the spray bottle on the right side of table\n\u003c/PRED\u003e","video":"10662099450103373098.mp4"}
+{"uid":"13382391029535333334","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black 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":"753960506901238724.mp4"}
+{"uid":"6138249389829260605","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink chocolate into the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3972349141844453576.mp4"}
+{"uid":"1046166144439170996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a pista in 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":"5951637299804109094.mp4"}
+{"uid":"209895939506082748","text":"\u003ctask:success:discrete:True\u003e\nput the holder on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the holder on the mat\n\u003c/PRED\u003e","video":"11104142816680684944.mp4"}
+{"uid":"4891864686833034083","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow cap bottle on the table mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow cap bottle on the table mat 2- move the bottle 3- place the honey bottle on the table 4- move the vanilla bottle 5- put the honey bottle on the mat\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow cap bottle on the table mat\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table Q: immediate next step? \u003cPRED\u003eA: Put the yellow cap bottle on the table mat\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow cap bottle on the table mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow cap bottle on the table mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: Put the yellow cap bottle on the table mat\n\u003c/PRED\u003e","video":"16720659608668781006.mp4"}
+{"uid":"5971048403564212842","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":"15149284322509031753.mp4"}
+{"uid":"9850185374315350389","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15323406543421182220.mp4"}
+{"uid":"17266422033164215056","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16203787792647439290.mp4"}
+{"uid":"11297241338437109227","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pen holder on right side of table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen holder on right side of table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: place the pen holder on right side of table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen holder on right side of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen holder on right side 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: place the pen holder on right side of table\n\u003c/PRED\u003e","video":"18133687597137867160.mp4"}
+{"uid":"6651312119516813591","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bowl on the counter of the dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16348134260219846388.mp4"}
+{"uid":"7716773484079254158","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":"13974576125006168517.mp4"}
+{"uid":"17265811730115800198","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: put the honey bottle on the mat\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle 9- place the honey bottle on the table 10- move the vanilla bottle Q: immediate next step? \u003cPRED\u003eA: put the honey bottle on the mat\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the honey bottle on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the honey bottle on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle 9- place the honey bottle on the table 10- move the vanilla bottle Q: next 5 steps? \u003cPRED\u003eA: 1- put the honey bottle on the mat 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the honey bottle on the mat\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the honey bottle on the mat\n\u003c/PRED\u003e","video":"11823413692996135387.mp4"}
+{"uid":"11990158860348741516","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- place the bottle on right side of table 2- put the bottle on the right side of table 3- place the spray bottle on right side of table 4- place the spray bottle on the right side of table 5- place the spray bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bottle on right side 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 bottle on right side of table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bottle on right side of table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bottle on right side 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: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table Q: immediate next step? \u003cPRED\u003eA: place the bottle on right side of table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: place the bottle on right side of table\n\u003c/PRED\u003e","video":"17713945271047302537.mp4"}
+{"uid":"5273152416984582563","text":"\u003ctask:success:discrete:True\u003e\nplace the bottle on right side 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: place the bottle on right side of table\n\u003c/PRED\u003e","video":"16561063650975604805.mp4"}
+{"uid":"15973875511957339767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy 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":"6728899101155798662.mp4"}
+{"uid":"4475781193418682220","text":"\u003ctask:success:discrete:True\u003e\nPlace the holder on the table mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the holder on the table mat\n\u003c/PRED\u003e","video":"5948214682249108186.mp4"}
+{"uid":"4961243804945377058","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14138645112337643237.mp4"}
+{"uid":"10717748079957239435","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the small white jar on the table mat\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pepper grinder on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the small white jar on the table mat 2- place the spray bottle on the right side of table 3- place the spray bottle on the right side of table 4- place the honey bottle on the right side of table 5- move the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the small white jar on the table mat\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: Put the small white jar on the table mat\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table Q: immediate next step? \u003cPRED\u003eA: Put the small white jar on the table mat\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the small white jar on the table mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pepper grinder on the mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the small white jar on the table mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10050539889167256010.mp4"}
+{"uid":"14524712858493770090","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: Place the holder on the table mat\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the holder on the table mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the holder on the table mat 2- put the bottle on the right side of table 3- place the spray bottle on right side of table 4- place the spray bottle on the right side of table 5- place the spray bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the holder on the table mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the holder on the table mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the holder on the table mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the holder on the table mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15123588436907235760.mp4"}
+{"uid":"12284182056844975019","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17966085481315407468.mp4"}
+{"uid":"231174376203093512","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: put the honey bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the honey bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the honey bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle Q: immediate next step? \u003cPRED\u003eA: put the honey bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the honey bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- put the honey bottle on the table 2- move the vanilla bottle 3- put the honey bottle on the mat 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the honey bottle on the table\n\u003c/PRED\u003e","video":"10373643606969247939.mp4"}
+{"uid":"11742674892681625284","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: put the honey bottle on the mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the honey bottle on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the honey bottle on the mat\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the honey bottle on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- put the honey bottle on the mat 2- move the bottle 3- place the honey bottle on the table 4- move the vanilla bottle 5- put the honey bottle on the mat\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table Q: immediate next step? \u003cPRED\u003eA: put the honey bottle on the mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the honey bottle on the mat\n\u003c/PRED\u003e","video":"6868652877232609908.mp4"}
+{"uid":"6168716383129193145","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the small black jar on the table mat\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the small black jar on the table mat\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: Put the small black jar on the table mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the small black jar on the table mat 2- put the bottle on the right side of table 3- place the spray bottle on right side of table 4- place the spray bottle on the right side of table 5- place the spray bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table Q: immediate next step? \u003cPRED\u003eA: Put the small black jar on the table mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the small black jar on the table mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the small black jar on the table mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4917133553814667679.mp4"}
+{"uid":"17908710956859074763","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen holder on right side of table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen holder on right side 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":"13753221064070477342.mp4"}
+{"uid":"7604021561205746705","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black bottle on the black mat\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black bottle on the black mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17436932929382811717.mp4"}
+{"uid":"9760990054594817263","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: place the honey bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle 9- place the honey bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the honey bottle on the right side of table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the honey bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the honey bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the honey bottle on the right side of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the honey bottle on the right side 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: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle 9- place the honey bottle on the table Q: immediate next step? \u003cPRED\u003eA: place the honey bottle on the right side of table\n\u003c/PRED\u003e","video":"1593216244904124350.mp4"}
+{"uid":"8036064072773559682","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: 1- Pick up the packet 2- put box on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: 1- Pick up the packet 2- put box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11715370065979344547.mp4"}
+{"uid":"11809443038461413236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange peel 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":"3275779582547023128.mp4"}
+{"uid":"1784347998590264604","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the jelly 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":"7135462989624134898.mp4"}
+{"uid":"887396199166984849","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the salt grinder on the mat\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the salt grinder on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16261779997738215518.mp4"}
+{"uid":"15886182981670309190","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: 1- Pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- place a box on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: 1- Pick up the packet Q: immediate next step? \u003cPRED\u003eA: place a box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. Q: immediate next step? \u003cPRED\u003eA: place a box on the table\n\u003c/PRED\u003e","video":"18149514284033563897.mp4"}
+{"uid":"16741783208722571659","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spray bottle on right side of table 2- place the spray bottle on the right side of table 3- place the spray bottle on the right side of table 4- place the honey bottle on the right side of table 5- move the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: place the spray bottle on right side of table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spray bottle on right side 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: place the spray bottle on right side of table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spray bottle on right side 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: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table Q: immediate next step? \u003cPRED\u003eA: place the spray bottle on right side of table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spray bottle on right side of table\n\u003c/PRED\u003e","video":"2363167538026827497.mp4"}
+{"uid":"6522587106191589912","text":"\u003ctask:success:discrete:True\u003e\nplace the spray bottle on the right side 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: place the spray bottle on the right side of table\n\u003c/PRED\u003e","video":"1046243522874457630.mp4"}
+{"uid":"2819049052418433800","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table Q: immediate next step? \u003cPRED\u003eA: Put the green bottle on the black mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the vanilla bottle on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the vanilla bottle on the mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green bottle on the black mat\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: put the vanilla bottle on the mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green bottle on the black mat 2- place the spray bottle on the right side of table 3- place the honey bottle on the right side of table 4- move the bottle 5- place the honey bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green bottle on the black mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: Put the green bottle on the black mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- put the vanilla bottle on the mat 2- place the spray bottle on the right side of table 3- place the honey bottle on the right side of table 4- move the bottle 5- place the honey bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green bottle on the black mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the vanilla bottle on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table Q: immediate next step? \u003cPRED\u003eA: put the vanilla bottle on the mat\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green bottle on the black mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the vanilla bottle on the mat\n\u003c/PRED\u003e","video":"14896410325140811587.mp4"}
+{"uid":"13247229916503614179","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: 1- Pick up the packet Q: immediate next step? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. Q: immediate next step? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: 1- Pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- put box on the table 2- done\n\u003c/PRED\u003e","video":"3777308160858549601.mp4"}
+{"uid":"1032719904964697705","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow cap bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow cap bottle on the table 2- move the vanilla bottle 3- put the honey bottle on the mat 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow cap bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle Q: immediate next step? \u003cPRED\u003eA: Put the yellow cap bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow cap bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow cap bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: Put the yellow cap bottle on the table\n\u003c/PRED\u003e","video":"10646958562554772453.mp4"}
+{"uid":"13789598456356375729","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chocolate bottle on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chocolate bottle on the mat\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the chocolate bottle on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table Q: immediate next step? \u003cPRED\u003eA: put the chocolate bottle on the mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chocolate bottle on the mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- put the chocolate bottle on the mat 2- move the bottle 3- place the honey bottle on the table 4- move the vanilla bottle 5- put the honey bottle on the mat\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: put the chocolate bottle on the mat\n\u003c/PRED\u003e","video":"6014181517282241579.mp4"}
+{"uid":"14353533594421217279","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":"13156023156803069378.mp4"}
+{"uid":"12179559789267013492","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":"6145662285304895817.mp4"}
+{"uid":"16904458187039407060","text":"\u003ctask:success:discrete:False\u003e\nplace the honey bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: place the honey bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- place the honey bottle on the table 2- move the vanilla bottle 3- put the honey bottle on the mat 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the honey bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the honey bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table Q: immediate next step? \u003cPRED\u003eA: place the honey bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the honey 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","video":"9388849537000189524.mp4"}
+{"uid":"1149976347553160435","text":"\u003ctask:success:discrete:True\u003e\nplace the spray bottle on the right side 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: place the spray bottle on the right side of table\n\u003c/PRED\u003e","video":"9431028692883629207.mp4"}
+{"uid":"6584156851394603634","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":"14973770377464423225.mp4"}
+{"uid":"5308563517337862907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the banana into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12894449225545803062.mp4"}
+{"uid":"8278710438006759262","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the packet 2- place a box on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. Q: immediate next step? \u003cPRED\u003eA: Pick up the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the packet\n\u003c/PRED\u003e","video":"9958752138600514831.mp4"}
+{"uid":"689567647285340445","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1726825242259123791.mp4"}
+{"uid":"98861152767639042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cherries in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12401863948983440598.mp4"}
+{"uid":"17575104739020840990","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":"14881172896703839156.mp4"}
+{"uid":"200650625888080976","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nlift your arm Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8335509807078445707.mp4"}
+{"uid":"5981476535581312820","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bottle on the mat\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the bottle on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17819893063779111995.mp4"}
+{"uid":"15785968469113509726","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. Q: immediate next step? \u003cPRED\u003eA: leave hallway\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave 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: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: leave hallway\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- leave hallway 2- place a box on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave hallway\n\u003c/PRED\u003e","video":"17397401802403597902.mp4"}
+{"uid":"17649946305913281025","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the chocolate bottle on the mat\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the chocolate bottle on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8305912745387686512.mp4"}
+{"uid":"1884095251157319509","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: move arm forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove arm forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove arm forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move arm forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- move arm forward 2- move the vanilla bottle 3- put the honey bottle on the mat 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move arm forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle Q: immediate next step? \u003cPRED\u003eA: move arm forward\n\u003c/PRED\u003e","video":"13495001313072968117.mp4"}
+{"uid":"14372921224624004683","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pepper grinder on the mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pepper grinder on the mat 2- place the spray bottle on right side of table 3- place the spray bottle on the right side of table 4- place the spray bottle on the right side of table 5- place the honey bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pepper grinder on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pepper grinder on the mat\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table Q: immediate next step? \u003cPRED\u003eA: put the pepper grinder on the mat\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pepper grinder on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: put the pepper grinder on the mat\n\u003c/PRED\u003e","video":"12899768708800064065.mp4"}
+{"uid":"151000416120001168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the sugar packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4574475755316833295.mp4"}
+{"uid":"15032164803174844548","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red 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":"7095723159387648774.mp4"}
+{"uid":"6559474336819267605","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black bottle on the black mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table Q: immediate next step? \u003cPRED\u003eA: Put the black bottle on the black mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black bottle on the black mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black bottle on the black mat 2- move the bottle 3- place the honey bottle on the table 4- move the vanilla bottle 5- put the honey bottle on the mat\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: Put the black bottle on the black mat\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black bottle on the black mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black bottle on the black mat\n\u003c/PRED\u003e","video":"8493981558344588946.mp4"}
+{"uid":"31496402418756101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the jacket on the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7831425012146389063.mp4"}
+{"uid":"11617414545276825464","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick green box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick green box 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":"4555438168727502642.mp4"}
+{"uid":"11485977488832974974","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet 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":"16865590764434505714.mp4"}
+{"uid":"16612093433033113921","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: 1- Pick up the packet 2- place a box 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: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: 1- Pick up the packet 2- place a box 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 a box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17657478947868201713.mp4"}
+{"uid":"4263780293720128177","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle 9- place the honey bottle on the table Q: immediate next step? \u003cPRED\u003eA: move the vanilla bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle 9- place the honey bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the vanilla bottle 2- put the honey bottle on the mat 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the vanilla 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the vanilla bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: move the vanilla bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the vanilla 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: move the vanilla bottle\n\u003c/PRED\u003e","video":"14011284043740684172.mp4"}
+{"uid":"1287372448946138330","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: Put the yellow cap on the table mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the yellow cap on the table mat\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the yellow cap on the table mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle 9- place the honey bottle on the table 10- move the vanilla bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow cap on the table mat 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the yellow cap on the table mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table 8- move the bottle 9- place the honey bottle on the table 10- move the vanilla bottle Q: immediate next step? \u003cPRED\u003eA: Put the yellow cap on the table mat\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the yellow cap on the table mat\n\u003c/PRED\u003e","video":"5563604628083725000.mp4"}
+{"uid":"9692037473229875484","text":"\u003ctask:success:discrete:False\u003e\npick up 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: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the box 2- place a box on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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: pick up the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. Q: immediate next step? \u003cPRED\u003eA: pick up the box\n\u003c/PRED\u003e","video":"4331242504825400259.mp4"}
+{"uid":"11051187057393392220","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":"16495124589283410158.mp4"}
+{"uid":"7000047156524876533","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the white packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6308415352914490343.mp4"}
+{"uid":"8794884485016641891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13290248701950780851.mp4"}
+{"uid":"13119191284170405921","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npress the button Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2005884275509751637.mp4"}
+{"uid":"15163509255641336425","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spray bottle on right side of table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the spray bottle on right side 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":"6893662868838819658.mp4"}
+{"uid":"1168717564963079161","text":"\u003ctask:success:discrete:True\u003e\nleave 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: leave hallway\n\u003c/PRED\u003e","video":"7782539950598587962.mp4"}
+{"uid":"11643895929851272690","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bottle on the mat\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: put the bottle on the mat\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table Q: immediate next step? \u003cPRED\u003eA: put the bottle on the mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bottle on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- put the bottle on the mat 2- place the spray bottle on the right side of table 3- place the honey bottle on the right side of table 4- move the bottle 5- place the honey bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bottle on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bottle on the mat\n\u003c/PRED\u003e","video":"15533828395395211418.mp4"}
+{"uid":"14023214475128622352","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table Q: immediate next step? \u003cPRED\u003eA: place the honey bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the honey bottle on the right side 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: place the honey bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the honey bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- place the honey bottle on the right side of table 2- move the bottle 3- place the honey bottle on the table 4- move the vanilla bottle 5- put the honey bottle on the mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the honey bottle on the right side 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: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: place the honey bottle on the right side of table\n\u003c/PRED\u003e","video":"1939957835858099370.mp4"}
+{"uid":"10266321169929320074","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: 1- Pick up the packet 2- Place the packet 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 packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: 1- Pick up the packet 2- Place the packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2001990886096872174.mp4"}
+{"uid":"15877712568895503398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  orange 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":"18294951262076347444.mp4"}
+{"uid":"15553425665365099056","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table Q: immediate next step? \u003cPRED\u003eA: Put the maroon bottle on the black mat\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the maroon bottle on the black mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the maroon bottle on the black mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the maroon bottle on the black mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: Put the maroon bottle on the black mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the maroon bottle on the black mat 2- place the spray bottle on the right side of table 3- place the spray bottle on the right side of table 4- place the honey bottle on the right side of table 5- move the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the maroon bottle on the black mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17908201031852882696.mp4"}
+{"uid":"511276184085129107","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the holder on the mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the holder on the mat 2- put the bottle on the right side of table 3- place the spray bottle on right side of table 4- place the spray bottle on the right side of table 5- place the spray bottle on the right side of 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 mat\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the holder on the mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the holder on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the holder on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: put the holder on the mat\n\u003c/PRED\u003e","video":"13048339794181622484.mp4"}
+{"uid":"610587685270794621","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: 1- Pick up the packet Q: immediate next step? \u003cPRED\u003eA: Place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. Q: immediate next step? \u003cPRED\u003eA: Place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: 1- Pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11340038069903383883.mp4"}
+{"uid":"7930046724933553225","text":"\u003ctask:success:discrete:True\u003e\nPut the small black jar on the table mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the small black jar on the table mat\n\u003c/PRED\u003e","video":"9230998200276027926.mp4"}
+{"uid":"3171900293085692670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the pen in the top tray of the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3808027098565298676.mp4"}
+{"uid":"18155664875322017525","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the salt grinder on the mat\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table Q: immediate next step? \u003cPRED\u003eA: put the salt grinder on the mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the salt grinder on the mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the salt grinder on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- put the salt grinder on the mat 2- place the spray bottle on the right side of table 3- place the spray bottle on the right side of table 4- place the honey bottle on the right side of table 5- move the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the salt grinder on the mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: put the salt grinder on the mat\n\u003c/PRED\u003e","video":"9976730328297020920.mp4"}
+{"uid":"15077427244356562015","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tray towards 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":"1769026462639352548.mp4"}
+{"uid":"13667032526235402244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15696686967224207259.mp4"}
+{"uid":"6436892975464215274","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spray bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spray bottle on the right side of table 2- place the honey bottle on the right side of table 3- move the bottle 4- place the honey bottle on the table 5- move the vanilla bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: place the spray bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spray bottle on the right side 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 spray bottle on the right side of table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table Q: immediate next step? \u003cPRED\u003eA: place the spray bottle on the right side of table\n\u003c/PRED\u003e","video":"15377417758513107999.mp4"}
+{"uid":"434566926914239376","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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\u003ctask:planning:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey Q: immediate next step? \u003cPRED\u003eA: move the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table Q: immediate next step? \u003cPRED\u003eA: move the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put away the stirring sticks, the salt and pepper shakers, and the syrups and honey. last 20 steps: 1- place the pen holder on right side of table 2- place the bottle on right side of table 3- put the bottle on the right side of table 4- place the spray bottle on right side of table 5- place the spray bottle on the right side of table 6- place the spray bottle on the right side of table 7- place the honey bottle on the right side of table Q: next 5 steps? \u003cPRED\u003eA: 1- move the bottle 2- move the vanilla bottle 3- put the honey bottle on the mat 4- done\n\u003c/PRED\u003e","video":"990213803225645462.mp4"}
+{"uid":"7220277754555299501","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":"16711973167986140293.mp4"}
+{"uid":"16634890063531418198","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":"11079824261760243379.mp4"}
+{"uid":"2717531395094372437","text":"\u003ctask:success:discrete:False\u003e\npick green box from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick green box from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick green box from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. Q: immediate next step? \u003cPRED\u003eA: pick green box from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick green box from the table 2- place a box on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick green box 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: bring the girl scout cookies from the desk back to the microkitchen. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick green box from the table\n\u003c/PRED\u003e","video":"12913194959398148543.mp4"}
+{"uid":"4009491539059905121","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic fork in the paper glass 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic fork in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e","video":"4465961219978845733.mp4"}
+{"uid":"17233146975215113341","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- arrange the can\n\u003c/PRED\u003e","video":"1780163258356294644.mp4"}
+{"uid":"9241348280959479574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7211114899928045625.mp4"}
+{"uid":"4580827714899126865","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6798993762320896335.mp4"}
+{"uid":"11837847061950242435","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put a plastic knife in the paper cup 14- put the plastic spoon in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic fork 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 a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put a plastic knife in the paper cup 14- put the plastic spoon in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic fork in the paper cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e","video":"18318302781677435931.mp4"}
+{"uid":"8264623068209308530","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic fork in 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: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic fork in the paper glass 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e","video":"2107180588229187298.mp4"}
+{"uid":"18058609476630652659","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic fork in the paper cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a plastic fork 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 a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic fork 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","video":"874097486817657086.mp4"}
+{"uid":"14686691920891716216","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17290620508614951212.mp4"}
+{"uid":"5209306936570035584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the arm 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":"10248653335452965622.mp4"}
+{"uid":"5671169336288213054","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put a plastic knife in the paper cup 11- put the plastic spoon in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put a plastic knife in the paper cup 11- put the plastic spoon in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the cup 2- put the plastic knife in the cup 3- open the drawer 4- place the cup in the drawer 5- place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e","video":"188676189078991939.mp4"}
+{"uid":"5892685835106645248","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic fork in 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic fork in the paper glass 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e","video":"16063063235200643628.mp4"}
+{"uid":"17989849801087345405","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic spoon in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic 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 plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e","video":"9713007494039297594.mp4"}
+{"uid":"303395268333861971","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic knife 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic knife in the paper cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e","video":"5370189697217784941.mp4"}
+{"uid":"3090475550642545223","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":"10016612983607995059.mp4"}
+{"uid":"12495222089553786429","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":"2772828317724509090.mp4"}
+{"uid":"15411057010940868649","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":"17805546819888434255.mp4"}
+{"uid":"343089239354921331","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sugar packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12446080943305318263.mp4"}
+{"uid":"9614595145574222909","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put a plastic knife in the paper cup 14- put the plastic spoon in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic fork in the paper glass 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put a plastic knife in the paper cup 14- put the plastic spoon in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic fork in 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","video":"12258244900763235471.mp4"}
+{"uid":"6957200082590594897","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":"6899541313286288310.mp4"}
+{"uid":"17728035065958835859","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the paper 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 paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the paper glass 2- put a plastic knife in the paper cup 3- put the plastic spoon in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e","video":"13980892410976432721.mp4"}
+{"uid":"4187070773914216070","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2400712718437975542.mp4"}
+{"uid":"10672952378264526151","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":"2399999095097323800.mp4"}
+{"uid":"8163619416441851830","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic spoon in the paper cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic spoon 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","video":"8666206944802086953.mp4"}
+{"uid":"5530158119047647714","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic fork in the paper cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the plastic spoon from 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\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic fork in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e","video":"808966869274172611.mp4"}
+{"uid":"1935018377650736832","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":"425065462693069322.mp4"}
+{"uid":"8344728000798113873","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15241252174299625313.mp4"}
+{"uid":"705348245198791833","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray 6- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the can 2- place the can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: arrange the can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray 6- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: arrange the can\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the can\n\u003c/PRED\u003e","video":"18394302082976656104.mp4"}
+{"uid":"13533045953826260118","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic fork in the paper cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic fork 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e","video":"16810974364424745208.mp4"}
+{"uid":"2079269186261956852","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":"16275370616531415436.mp4"}
+{"uid":"11140815600961236121","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7976680895438100625.mp4"}
+{"uid":"464349678989039120","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrotate 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":"11473210506365657895.mp4"}
+{"uid":"7132224294298046742","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic knife in the paper cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic knife 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e","video":"17158621425804170179.mp4"}
+{"uid":"12514651358077462175","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e","video":"5942960721478405130.mp4"}
+{"uid":"12553238519776369479","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic spoon in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the paper glass 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic 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 plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e","video":"1566403216622645025.mp4"}
+{"uid":"1470811710603763501","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the paper glass 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the paper 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 paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in 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:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e","video":"1764938122537370558.mp4"}
+{"uid":"16972957137254133873","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on 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":"2345670315667507333.mp4"}
+{"uid":"13759454976933937366","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a knife paper cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: place a knife paper cup in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put a plastic knife in the paper cup 7- put the plastic spoon in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic knife in the cup 19- open the drawer 20- place the cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place a knife paper cup in the drawer 2- place the cup in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a knife paper cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a knife paper cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put a plastic knife in the paper cup 7- put the plastic spoon in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic knife in the cup 19- open the drawer 20- place the cup in the drawer Q: immediate next step? \u003cPRED\u003eA: place a knife paper cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a knife paper cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9316741216090143973.mp4"}
+{"uid":"15863148501811084336","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1729544403307930568.mp4"}
+{"uid":"1689089347505026610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm 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":"8913656651124986231.mp4"}
+{"uid":"10113919693407830577","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the white packet 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":"1604779761964607215.mp4"}
+{"uid":"17641724754986957699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen 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":"4399221176510717314.mp4"}
+{"uid":"10222525784162160322","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the paper glass in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper glass in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put a plastic knife in the paper cup 7- put the plastic spoon in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic knife in the cup 19- open the drawer 20- place the cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper glass in the drawer 2- place the cup in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper glass in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put a plastic knife in the paper cup 7- put the plastic spoon in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic knife in the cup 19- open the drawer 20- place the cup in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the paper glass in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper glass in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13868462770317012561.mp4"}
+{"uid":"13031672692802276351","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bottle 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":"7132248682082969757.mp4"}
+{"uid":"8872313300554684081","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put a plastic knife in the paper cup 12- put the plastic spoon in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put a plastic knife in the paper cup 12- put the plastic spoon in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic fork in the paper cup 2- put the plastic fork in the cup 3- put the plastic knife in the cup 4- open the drawer 5- place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the white 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\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic fork 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e","video":"3947631531921617830.mp4"}
+{"uid":"13665050161741997694","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana 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":"14409741691378310135.mp4"}
+{"uid":"18285511013842678030","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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":"9235599322163585867.mp4"}
+{"uid":"14670556358980514209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the  phone towards 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":"13041585446954555229.mp4"}
+{"uid":"16186239236273077459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the beans into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1618404434571644515.mp4"}
+{"uid":"8269087895418510086","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the paper glass 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e","video":"13508628676441877831.mp4"}
+{"uid":"1387897302310286065","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":"10356961812920951020.mp4"}
+{"uid":"7044299123572406010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the popcorn bag in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4292891580935583267.mp4"}
+{"uid":"10872671202823278570","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17689611928425174216.mp4"}
+{"uid":"462081479026497122","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":"15749037743804382761.mp4"}
+{"uid":"14134367214013432310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15461787060564251760.mp4"}
+{"uid":"755206643812151581","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red 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":"8032211753606491763.mp4"}
+{"uid":"11431458447283345027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nfold the right arm of sweatshirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6582860356774611847.mp4"}
+{"uid":"16635106930669169894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3879404078908169354.mp4"}
+{"uid":"1370294275801405077","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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 plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic 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 plastic fork in the cup\n\u003c/PRED\u003e","video":"4354183583093299400.mp4"}
+{"uid":"11838496181842215557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the coffee cup in the other 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":"13282836393666701875.mp4"}
+{"uid":"6044164912458283852","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up block Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6711120618071453055.mp4"}
+{"uid":"10782870291474811876","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"970175327221964212.mp4"}
+{"uid":"6798834683914950795","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":"2757838872790930496.mp4"}
+{"uid":"8187107459898232981","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put a plastic knife in the paper cup 7- put the plastic spoon in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic knife in the cup 19- open the drawer 20- place the cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup in the drawer 2- place the cup in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put a plastic knife in the paper cup 7- put the plastic spoon in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic knife in the cup 19- open the drawer 20- place the cup in the drawer Q: immediate next step? \u003cPRED\u003eA: place the cup in the drawer\n\u003c/PRED\u003e","video":"1562366782294807223.mp4"}
+{"uid":"14404016933705583921","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8992526679218666927.mp4"}
+{"uid":"15780710671017580287","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray 6- place the can in the tray 7- arrange the can Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray 6- place the can in the tray 7- arrange the can Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"6848444467043131973.mp4"}
+{"uid":"2530375776288752157","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":"13479981557358308101.mp4"}
+{"uid":"8607324922944217694","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16301474068517906936.mp4"}
+{"uid":"1485622038850610291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange wrapper into the left black box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6265560288397524653.mp4"}
+{"uid":"13990598636383910135","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic 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 plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup\n\u003c/PRED\u003e","video":"1406468977376956156.mp4"}
+{"uid":"17352285912612892979","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic spoon 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic spoon in the paper cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e","video":"10677383522762385658.mp4"}
+{"uid":"1806098641326502117","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic spoon 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic spoon in the paper cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a plastic spoon 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","video":"4038477796013978066.mp4"}
+{"uid":"8968188287397179769","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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 plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e","video":"15604124784306154069.mp4"}
+{"uid":"2607022820042392691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bottom black pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9718468791872050815.mp4"}
+{"uid":"7267527478276381773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green glass into the orange 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":"10395696240004528293.mp4"}
+{"uid":"5979759209348993770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white box in 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":"15105169733137922251.mp4"}
+{"uid":"1372249063303736200","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put a plastic knife in the paper cup 10- put the plastic spoon in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a plastic knife 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:discriminative:discrete:True\u003e\nput a plastic knife 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put a plastic knife in the paper cup 10- put the plastic spoon in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic knife in the paper cup 2- open the drawer 3- place the cup in the drawer 4- place the cup in the drawer 5- place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e","video":"4615110807310890672.mp4"}
+{"uid":"10894212625725511589","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the paper 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 paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the paper glass 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e","video":"13957734661041318622.mp4"}
+{"uid":"11772720476867241637","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e","video":"11618033944768088329.mp4"}
+{"uid":"6867151722042840265","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the paper glass 2- put the plastic spoon in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e","video":"12864062241825413039.mp4"}
+{"uid":"46871869036934036","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup Q: immediate next step? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic spoon in the paper cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a plastic spoon 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:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen near the red 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\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic spoon 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 a plastic spoon in the paper cup\n\u003c/PRED\u003e","video":"5695547528206870253.mp4"}
+{"uid":"4307291538977524986","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic 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 plastic fork in the cup\n\u003c/PRED\u003e","video":"6018678151904019440.mp4"}
+{"uid":"14683632581631770836","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- arrange the can 3- place the can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12310851853973091028.mp4"}
+{"uid":"8966615404851884547","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tissue box 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":"4601488220996422656.mp4"}
+{"uid":"9919608987674908195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2387312077911056309.mp4"}
+{"uid":"9424321110320193623","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e","video":"6060227543844347276.mp4"}
+{"uid":"15310904529608301446","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":"1883108296703299993.mp4"}
+{"uid":"10744867030465478127","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5970513648541307243.mp4"}
+{"uid":"2628528845625636691","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":"8772387887521745856.mp4"}
+{"uid":"10618175046557507401","text":"\u003ctask:success:discrete:True\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"6424448063423401030.mp4"}
+{"uid":"5482482479489771570","text":"\u003ctask:success:discrete:False\u003e\nput the plastic 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 plastic 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 plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e","video":"16206667581523224732.mp4"}
+{"uid":"1419296321999858655","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6190874313505074652.mp4"}
+{"uid":"8653188483154052268","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red snack packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17921913055584967118.mp4"}
+{"uid":"10594961468741190944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knife 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":"3540535368817022883.mp4"}
+{"uid":"9974971722941411046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown bowl on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11623444169944433747.mp4"}
+{"uid":"5948639836022785236","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":"14603086246704922895.mp4"}
+{"uid":"13016445670049630590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRotate the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7551888704082897796.mp4"}
+{"uid":"2485037923668573334","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put a plastic knife in the paper cup 12- put the plastic spoon in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the cup 2- put the plastic fork in the cup 3- put the plastic knife in the cup 4- open the drawer 5- place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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 plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put a plastic knife in the paper cup 12- put the plastic spoon in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e","video":"11411829784127623111.mp4"}
+{"uid":"3157819580482050220","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic fork in the paper cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic fork 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e","video":"17261519119584804309.mp4"}
+{"uid":"5545891008490976671","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic 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 plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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 plastic fork in the cup\n\u003c/PRED\u003e","video":"11278287015233335281.mp4"}
+{"uid":"17639491055852291104","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":"11434824824416085852.mp4"}
+{"uid":"16613325974155903291","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic fork 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic fork in the paper cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e","video":"13601353173779213156.mp4"}
+{"uid":"8849859128367483667","text":"\u003ctask:success:discrete:False\u003e\nPut the plastic knife in 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put a plastic knife in the paper cup 10- put the plastic spoon in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper 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 paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nleave 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put a plastic knife in the paper cup 10- put the plastic spoon in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the paper glass 2- open the drawer 3- place the cup in the drawer 4- place the cup in the drawer 5- place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in 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","video":"5861299842359084909.mp4"}
+{"uid":"2385755236199113320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two white packets 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":"8865454465098456538.mp4"}
+{"uid":"7614834394494093313","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the plastic knife downwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3349296485130413673.mp4"}
+{"uid":"14592792865671602326","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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 plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put a plastic knife in the paper cup 14- put the plastic spoon in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put a plastic knife in the paper cup 14- put the plastic spoon in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e","video":"12678012383857555271.mp4"}
+{"uid":"7810208635074904032","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic fork in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic fork in the paper glass 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e","video":"17139126240521933386.mp4"}
+{"uid":"16282097106330045802","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put a plastic knife in the paper cup 5- put the plastic 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 plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e","video":"1261119334148893933.mp4"}
+{"uid":"1387707933268073811","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic 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 plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put a plastic knife in the paper cup 13- put the plastic spoon in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic knife in the cup 5- open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put a plastic knife in the paper cup 13- put the plastic spoon in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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":"11828019322657603419.mp4"}
+{"uid":"86149062617129577","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the banana Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15348500447933321169.mp4"}
+{"uid":"3844424825791921904","text":"\u003ctask:success:discrete:False\u003e\nput the plastic knife in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e","video":"16927579710899953765.mp4"}
+{"uid":"1181274802300103065","text":"\u003ctask:success:discrete:False\u003e\nplace a spoon paper cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put a plastic knife in the paper cup 8- put the plastic spoon in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic knife in the cup 20- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon paper cup in the drawer 2- place the cup in the drawer 3- place the cup in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon paper cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon paper cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: place a spoon paper cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put a plastic knife in the paper cup 8- put the plastic spoon in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic knife in the cup 20- open the drawer Q: immediate next step? \u003cPRED\u003eA: place a spoon paper cup in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon paper cup in the drawer\n\u003c/PRED\u003e","video":"6124740560579042332.mp4"}
+{"uid":"12437485727897786834","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink mug on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11118226516899485259.mp4"}
+{"uid":"8234723635080175687","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Red Bull 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":"17157837783529881992.mp4"}
+{"uid":"15732879485536456714","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic 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 plastic spoon in the cup\n\u003c/PRED\u003e","video":"13186439218332875967.mp4"}
+{"uid":"12148815776380885638","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in the paper 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 paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the paper glass 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e","video":"477623241897888918.mp4"}
+{"uid":"12785989124140709092","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- arrange the can 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"10169589016260135288.mp4"}
+{"uid":"13511371453657216180","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white tray in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"572410618061324681.mp4"}
+{"uid":"8009686812459545679","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the cup 2- put a plastic knife in the paper cup 3- put the plastic spoon in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e","video":"1991019673503864633.mp4"}
+{"uid":"8990362177285404059","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic fork in 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:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put a plastic knife in the paper cup 12- put the plastic spoon in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put a plastic knife in the paper cup 12- put the plastic spoon in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic fork in the paper glass 2- put the plastic fork in the cup 3- put the plastic knife in the cup 4- open the drawer 5- place the cup in the drawer\n\u003c/PRED\u003e","video":"12659069057618887162.mp4"}
+{"uid":"8948745444830324276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace numi bag 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":"8906493586149022920.mp4"}
+{"uid":"17442244993871273164","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put a plastic knife in the paper cup 9- put the plastic spoon in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the cup in the drawer 3- place the cup in the drawer 4- place the cup in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put a plastic knife in the paper cup 9- put the plastic spoon in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance: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":"12996836182282594444.mp4"}
+{"uid":"7883930345016315161","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in 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:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the paper glass 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e","video":"8402080704672401631.mp4"}
+{"uid":"17631140509706033375","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic 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 plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic spoon in the cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e","video":"7331638170068930758.mp4"}
+{"uid":"11408534562704580368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the stack in the right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1284560916572761756.mp4"}
+{"uid":"18418297629779654328","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic fork in the paper glass 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic fork in 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:affordance:discriminative:discrete:True\u003e\nPut the plastic fork in 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e","video":"775023302517632477.mp4"}
+{"uid":"12297016607501873397","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray 5- place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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":"18352085813934809055.mp4"}
+{"uid":"5423531717775636305","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":"3696380738127549720.mp4"}
+{"uid":"5245943946019812261","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic knife in the paper cup 2- put the plastic spoon in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic knife 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","video":"9573961153072017485.mp4"}
+{"uid":"17200385289974767576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6869053605789866396.mp4"}
+{"uid":"15404679053338697631","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":"12075858372403674248.mp4"}
+{"uid":"3610913417450209632","text":"\u003ctask:success:discrete:True\u003e\nput the plastic spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e","video":"15899733578185140298.mp4"}
+{"uid":"18253365799321087175","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic spoon in 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the paper glass 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e","video":"12096954065146703855.mp4"}
+{"uid":"8822710446854871172","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic knife in the paper cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic knife 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a plastic knife 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","video":"12777901288405413492.mp4"}
+{"uid":"18319228013432424977","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":"13114864919967875948.mp4"}
+{"uid":"8654953742814596626","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":"9704868019706015401.mp4"}
+{"uid":"1743080059694761616","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put a plastic knife in the paper cup 8- put the plastic spoon in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic knife in the cup 20- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup in the drawer 2- place the cup in the drawer 3- place the cup in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put a plastic knife in the paper cup 8- put the plastic spoon in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic knife in the cup 20- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9699499843272084412.mp4"}
+{"uid":"17696939312583877061","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- arrange the can 4- place the can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"852250265325595591.mp4"}
+{"uid":"14932059539427039931","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knife in the paper 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 paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in 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: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the paper glass 2- put a plastic knife in the paper cup 3- put the plastic spoon in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e","video":"17937308584010491713.mp4"}
+{"uid":"18443937922287889318","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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","video":"9943467171821422070.mp4"}
+{"uid":"10199457054595435562","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic knife 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 a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic knife in the paper cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put a plastic knife in the paper cup 5- put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e","video":"3117026403036021063.mp4"}
+{"uid":"7747581709203540446","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic spoon in the cup\n\u003c/PRED\u003e","video":"11233689637448354730.mp4"}
+{"uid":"633908316513779983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pear 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":"1241489274435533223.mp4"}
+{"uid":"12026791226307378630","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chocolates in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15202115369208613409.mp4"}
+{"uid":"689029670703889444","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put a plastic knife in the paper cup 10- put the plastic spoon in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic knife in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put a plastic knife in the paper cup 10- put the plastic spoon in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the cup 2- open the drawer 3- place the cup in the drawer 4- place the cup in the drawer 5- place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e","video":"6832250422859937487.mp4"}
+{"uid":"17805765429585069168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the coffee cup lid in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15241328662372981475.mp4"}
+{"uid":"14522894402161711234","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":"16940692848977453787.mp4"}
+{"uid":"9430425268843333040","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic 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 plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e","video":"16443055326340650554.mp4"}
+{"uid":"4290877354953949013","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put a plastic knife in the paper cup 9- put the plastic spoon in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the cup in the drawer 3- place the cup in the drawer 4- place the cup in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put a plastic knife in the paper cup 9- put the plastic spoon in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"5663202161773613112.mp4"}
+{"uid":"16227865689713368862","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the paper 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 paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in the paper glass 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18221843098380769448.mp4"}
+{"uid":"15041826350460172969","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put a plastic knife in the paper cup 4- put the plastic spoon in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e","video":"12446722030871252467.mp4"}
+{"uid":"1215092104412453689","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":"2429397772917903969.mp4"}
+{"uid":"3533935564230239335","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put a plastic knife in the paper cup 6- put the plastic spoon in the cup 7- put the plastic fork in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic knife in the cup 18- open the drawer 19- place the cup in the drawer 20- place the cup in the drawer Q: immediate next step? \u003cPRED\u003eA: place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put a plastic knife in the paper cup 6- put the plastic spoon in the cup 7- put the plastic fork in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic knife in the cup 18- open the drawer 19- place the cup in the drawer 20- place the cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup in the drawer\n\u003c/PRED\u003e","video":"4629989461292469374.mp4"}
+{"uid":"4465732166895393119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pebble 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":"1913835609747943729.mp4"}
+{"uid":"15707749502126438828","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic fork 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic fork in the paper cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e","video":"6044639602201820786.mp4"}
+{"uid":"7905604830060705796","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut plastic knife in a 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":"346821396162546336.mp4"}
+{"uid":"9863965691334063368","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the paper glass 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put a plastic knife in the paper cup 5- put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e","video":"2385251666872214127.mp4"}
+{"uid":"15378217733870284834","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white 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":"12971156059506477151.mp4"}
+{"uid":"5223677662872623579","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic fork in 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: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put a plastic knife in the paper cup 13- put the plastic spoon in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic fork in the paper glass 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic knife in the cup 5- open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put a plastic knife in the paper cup 13- put the plastic spoon in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e","video":"11075857554237754131.mp4"}
+{"uid":"3517191226640557905","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic spoon 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic spoon in the paper cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e","video":"3886145928689660167.mp4"}
+{"uid":"14566901293261301754","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put a plastic knife in the paper cup 6- put the plastic spoon in the cup 7- put the plastic fork in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic knife in the cup 18- open the drawer 19- place the cup in the drawer 20- place the cup in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the paper glass in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the paper glass in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper glass in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper glass in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put a plastic knife in the paper cup 6- put the plastic spoon in the cup 7- put the plastic fork in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic knife in the cup 18- open the drawer 19- place the cup in the drawer 20- place the cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper glass in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper glass in the drawer\n\u003c/PRED\u003e","video":"6474012202626321238.mp4"}
+{"uid":"177648986082864215","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":"2749373809029168485.mp4"}
+{"uid":"16242202036885584355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the middle black pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"391929231807781928.mp4"}
+{"uid":"3948732775251955086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass stack on existing stack 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic knife in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the paper glass 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the paper 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 paper glass\n\u003c/PRED\u003e","video":"7136294688062237660.mp4"}
+{"uid":"5006185429561911374","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put a plastic knife in the paper cup 5- put the plastic spoon in the cup 6- put the plastic fork in the cup 7- put the plastic fork in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic knife in the cup 17- open the drawer 18- place the cup in the drawer 19- place the cup in the drawer 20- place the cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put a plastic knife in the paper cup 5- put the plastic spoon in the cup 6- put the plastic fork in the cup 7- put the plastic fork in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic knife in the cup 17- open the drawer 18- place the cup in the drawer 19- place the cup in the drawer 20- place the cup in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"15201402295064642452.mp4"}
+{"uid":"7164546871980066776","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the cup 2- put the plastic spoon in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the cup\n\u003c/PRED\u003e","video":"17341700407736000910.mp4"}
+{"uid":"9535774662315343013","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic knife in the paper 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 paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in 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: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the paper glass 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e","video":"2973732081794356792.mp4"}
+{"uid":"1475455549111830264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet in the draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7650753175060072563.mp4"}
+{"uid":"1942348475024643338","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic fork in 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: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup 14- put a plastic knife in the paper cup 15- put the plastic spoon in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic fork in the paper glass 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic 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 plastic fork in the paper glass\n\u003c/PRED\u003e","video":"7852971381182808874.mp4"}
+{"uid":"1551496190233415499","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":"13136896365063027803.mp4"}
+{"uid":"15780243404244209958","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put a plastic knife in the paper cup 11- put the plastic spoon in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic fork in the paper glass 2- put the plastic knife in the cup 3- open the drawer 4- place the cup in the drawer 5- place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put a plastic knife in the paper cup 11- put the plastic spoon in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic fork in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic fork in 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","video":"2438402894810001361.mp4"}
+{"uid":"14535131390346637680","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic knife 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic knife in the paper cup 2- put the plastic knife in the cup 3- put a plastic knife in the paper cup 4- put the plastic spoon in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e","video":"5784833364368153957.mp4"}
+{"uid":"3822614940972015682","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic knife in the paper 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 paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup 13- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic knife in the paper glass 2- put the plastic spoon in the cup 3- put the plastic fork in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the plastic knife in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic knife in 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","video":"5361702877115820721.mp4"}
+{"uid":"6703200765419437911","text":"\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put a plastic knife in the paper cup 5- put the plastic spoon in the cup 6- put the plastic fork in the cup 7- put the plastic fork in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic knife in the cup 17- open the drawer 18- place the cup in the drawer 19- place the cup in the drawer 20- place the cup in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put a plastic knife in the paper cup 5- put the plastic spoon in the cup 6- put the plastic fork in the cup 7- put the plastic fork in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic knife in the cup 17- open the drawer 18- place the cup in the drawer 19- place the cup in the drawer 20- place the cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- 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: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: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"731631781582348401.mp4"}
+{"uid":"13451880351356978832","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pip corn 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":"11547654016752792112.mp4"}
+{"uid":"6196286078387283469","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: Put the paper glass in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper glass in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put a plastic knife in the paper cup 8- put the plastic spoon in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic knife in the cup 20- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper glass in the drawer 2- place the cup in the drawer 3- place the cup in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper glass in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper glass in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put a plastic knife in the paper cup 8- put the plastic spoon in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic knife in the cup 20- open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the paper glass in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the paper glass in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17934508105506729136.mp4"}
+{"uid":"1145547579344022433","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":"10607040812822431514.mp4"}
+{"uid":"15751569760649344933","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put a plastic knife in the paper cup 13- put the plastic spoon in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic fork in the paper cup 2- put the plastic fork in the cup 3- put the plastic fork in the cup 4- put the plastic knife in the cup 5- open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put a plastic knife in the paper cup 13- put the plastic spoon in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic fork 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 a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e","video":"1168340568134808044.mp4"}
+{"uid":"4410437271960115008","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic knife 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put the plastic knife in the cup 11- put the plastic knife in the cup 12- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic knife in the paper cup 2- put a plastic knife in the paper cup 3- put the plastic spoon in the cup 4- put the plastic fork in the cup 5- put the plastic fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e","video":"4972654903695084463.mp4"}
+{"uid":"13567537112601494808","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the bunch of grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6955776150935108024.mp4"}
+{"uid":"46564585650000580","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":"10086499639124092465.mp4"}
+{"uid":"1526639169922377225","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic knife in the paper cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup 6- put the plastic spoon in the cup 7- put the plastic knife in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic knife 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 a plastic knife in the paper cup\n\u003c/PRED\u003e","video":"3051475599725332878.mp4"}
+{"uid":"4432808030197849416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12263532250571759665.mp4"}
+{"uid":"15935501679931697374","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put a plastic knife in the paper cup 9- put the plastic spoon in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic knife in the cup 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put a plastic knife in the paper cup 9- put the plastic spoon in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic knife in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- place the cup in the drawer 3- place the cup in the drawer 4- place the cup in the drawer 5- close the drawer\n\u003c/PRED\u003e","video":"9497202858827751854.mp4"}
+{"uid":"9492251861264543016","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put a plastic knife in the paper cup 5- put the plastic spoon in the cup 6- put the plastic fork in the cup 7- put the plastic fork in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic knife in the cup 17- open the drawer 18- place the cup in the drawer 19- place the cup in the drawer 20- place the cup in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put a plastic knife in the paper cup 5- put the plastic spoon in the cup 6- put the plastic fork in the cup 7- put the plastic fork in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic knife in the cup 17- open the drawer 18- place the cup in the drawer 19- place the cup in the drawer 20- place the cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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":"6229417236755003735.mp4"}
+{"uid":"4022693239170194829","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic spoon in the paper cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup 5- put the plastic spoon in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic spoon in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e","video":"4216724474059611462.mp4"}
+{"uid":"3317867638907453941","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4702529617738092859.mp4"}
+{"uid":"4171700040590756016","text":"\u003ctask:success:discrete:False\u003e\nplace a fork paper cup in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a fork paper cup in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put a plastic knife in the paper cup 6- put the plastic spoon in the cup 7- put the plastic fork in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic knife in the cup 18- open the drawer 19- place the cup in the drawer 20- place the cup in the drawer Q: immediate next step? \u003cPRED\u003eA: place a fork paper cup in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a fork paper cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: place a fork paper cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a fork paper cup in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic knife in the cup 2- put the plastic knife in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put a plastic knife in the paper cup 6- put the plastic spoon in the cup 7- put the plastic fork in the cup 8- put the plastic fork in the cup 9- put the plastic fork in the cup 10- put the plastic fork in the cup 11- put the plastic fork in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic knife in the cup 18- open the drawer 19- place the cup in the drawer 20- place the cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place a fork paper cup in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e","video":"17409431002088690265.mp4"}
+{"uid":"14040527154626542294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the choclate 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":"9949454394549494473.mp4"}
+{"uid":"756457434726595139","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic fork 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put a plastic knife in the paper cup 11- put the plastic spoon in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup 6- put the plastic knife in the cup 7- put the plastic knife in the cup 8- put the plastic knife in the cup 9- put the plastic knife in the cup 10- put a plastic knife in the paper cup 11- put the plastic spoon in the cup 12- put the plastic fork in the cup 13- put the plastic fork in the cup 14- put the plastic fork in the cup 15- put the plastic fork in the cup 16- put the plastic fork in the cup 17- put the plastic fork in the cup 18- put the plastic fork in the cup 19- put the plastic fork in the cup 20- put the plastic fork in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic fork in the paper cup 2- put the plastic knife in the cup 3- open the drawer 4- place the cup in the drawer 5- place the cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic fork in the paper cup\n\u003c/PRED\u003e","video":"8073350823932107433.mp4"}
+{"uid":"17647219719119965710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic fork in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7057357556402108459.mp4"}
+{"uid":"1420447456617521451","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup Q: immediate next step? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop. last 20 steps: 1- put the plastic spoon in the cup 2- put the plastic spoon in the cup 3- put the plastic spoon in the cup 4- put the plastic spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put a plastic spoon in the paper cup 2- put the plastic spoon in the cup 3- put the plastic knife in the cup 4- put the plastic knife in the cup 5- put the plastic knife in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a plastic spoon in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Sort the spoons, knives, and forks into different cups and place them in the top drawer under the countertop Q: immediate next step? \u003cPRED\u003eA: put a plastic spoon in the paper cup\n\u003c/PRED\u003e","video":"17154603219120844803.mp4"}
+{"uid":"2356722152354139854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  green 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":"7562798307295146067.mp4"}
+{"uid":"8045414025565819300","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":"10722514816877999022.mp4"}
+{"uid":"4491341521443699600","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana 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":"4060977732921992229.mp4"}
+{"uid":"15779223416869855614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the cap 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":"18299328371816037784.mp4"}
+{"uid":"4095429365810090342","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place it on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace it 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":"5271378488710173327.mp4"}
+{"uid":"1450342750027582206","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Enter into the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nEnter into 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":"1117883901653872033.mp4"}
+{"uid":"7803008394524762590","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table 8- place the packet on the table 9- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table 8- place the packet on the table 9- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"8684628812520625390.mp4"}
+{"uid":"16093248195600183095","text":"\u003ctask:success:discrete:True\u003e\nGo to the 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the hint bottle\n\u003c/PRED\u003e","video":"5669466583373464473.mp4"}
+{"uid":"5987568537071466211","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a coconut water from the mk. last 20 steps: 1- Open the right door of the fridge 2- Pick up the can Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring me a coconut water from the mk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a coconut water from the mk. last 20 steps: 1- Open the right door of the fridge 2- Pick up the can Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the can\n\u003c/PRED\u003e","video":"7172877749038172211.mp4"}
+{"uid":"16494978721836864430","text":"\u003ctask:success:discrete:True\u003e\nGo to the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the tissue on the table\n\u003c/PRED\u003e","video":"9651377921820064161.mp4"}
+{"uid":"1069858354938905034","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the bottle 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 the bottle 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 bottle in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Place the bottle in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table 11- Move to the table 12- Pick up the laptop charger 13- Place it on the black table 14- Go to the hint bottle 15- Pick it up from the table 16- Take it to the black table Q: immediate next step? \u003cPRED\u003eA: Place the bottle in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the bottle in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table 11- Move to the table 12- Pick up the laptop charger 13- Place it on the black table 14- Go to the hint bottle 15- Pick it up from the table 16- Take it to the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the bottle in the holder 2- Move away 3- done\n\u003c/PRED\u003e","video":"5915259522050978190.mp4"}
+{"uid":"17507027860990822940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple 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":"5452745338469161692.mp4"}
+{"uid":"15498394691906201632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"6144760397023408128.mp4"}
+{"uid":"7477012219863825946","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table Q: immediate next step? \u003cPRED\u003eA: Go to the office room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to 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\nGo to 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:planning:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Go to the office room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the office room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the office room 2- Pick up the pen 3- Drop it on the black table 4- Move to the table 5- Pick up the laptop charger\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the office room\n\u003c/PRED\u003e","video":"238838484625526655.mp4"}
+{"uid":"12051499189957748554","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the laptop charger\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the laptop charger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13900884149561741296.mp4"}
+{"uid":"568968110303171871","text":"\u003ctask:success:discrete:True\u003e\nWipe the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Wipe the table\n\u003c/PRED\u003e","video":"3474143183662073288.mp4"}
+{"uid":"18197978546233625930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace ball in Triangle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"234713270145253528.mp4"}
+{"uid":"6239973692676089879","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":"14003857580376595912.mp4"}
+{"uid":"16877708514698445524","text":"\u003ctask:success:discrete:True\u003e\nTake it to the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take it to the black table\n\u003c/PRED\u003e","video":"5900757398298692345.mp4"}
+{"uid":"12339234296969162527","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16062356220465010670.mp4"}
+{"uid":"6914457565147581740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  packets into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6833314073841049332.mp4"}
+{"uid":"5029739145814248742","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e","video":"10722658180987834491.mp4"}
+{"uid":"14557295839757084798","text":"\u003ctask:success:discrete:True\u003e\nDrop the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the tissue on the table\n\u003c/PRED\u003e","video":"8408591634696782913.mp4"}
+{"uid":"4994285048816979755","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pea on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7813339988032243284.mp4"}
+{"uid":"4669890905781393785","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table 8- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table 8- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"10349229721618888284.mp4"}
+{"uid":"12259887881706729945","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper 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":"8485238219758200235.mp4"}
+{"uid":"15375968853349596694","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Enter into the hallway\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nEnter into 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter into the hallway\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter into the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nEnter into the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table Q: immediate next step? \u003cPRED\u003eA: Enter into the hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table Q: next 5 steps? \u003cPRED\u003eA: 1- Enter into the hallway 2- Go to the office room 3- Move to the table 4- Pick up the pen 5- Drop it on the black table\n\u003c/PRED\u003e","video":"15234427550679790736.mp4"}
+{"uid":"13688466006691047584","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick it up from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick 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","video":"4677999810499120738.mp4"}
+{"uid":"13836610084157507491","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table Q: immediate next step? \u003cPRED\u003eA: Pick the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Pick the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the tissue 2- Take it to the black table 3- Wipe the table 4- Enter into the hallway 5- Drop the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the tissue\n\u003c/PRED\u003e","video":"2028980857185362794.mp4"}
+{"uid":"6536607140768967999","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":"10277095518576373335.mp4"}
+{"uid":"856785429845814574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a 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":"10110843630262984209.mp4"}
+{"uid":"1197568311972337079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7248997044311216154.mp4"}
+{"uid":"2634663370398180316","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put holder on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the cup of pens into the conference room. last 20 steps: 1- pick up the holder from the table 2- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- put holder on the table 2- put wire inside the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the cup of pens into the conference room. last 20 steps: 1- pick up the holder from the table 2- enter the room Q: immediate next step? \u003cPRED\u003eA: put holder on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring the cup of pens into the conference room Q: immediate next step? \u003cPRED\u003eA: put holder on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:affordance:discriminative:discrete:True\u003e\nput 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","video":"7272658436728785826.mp4"}
+{"uid":"10798238070386728774","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9630705940217364748.mp4"}
+{"uid":"554123020131043142","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Drop the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the tissue on the table 2- Go to the office room 3- Move to the table 4- Pick up the pen 5- Drop it on the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table Q: immediate next step? \u003cPRED\u003eA: Drop the tissue on the table\n\u003c/PRED\u003e","video":"7502886353949192232.mp4"}
+{"uid":"1441389507895325086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9735149000426708272.mp4"}
+{"uid":"8740487856838868741","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11974881625249321917.mp4"}
+{"uid":"11942817149518504666","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange 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":"14773928082496368386.mp4"}
+{"uid":"8409227116155748486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 4 pista in a 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":"1382378170668319045.mp4"}
+{"uid":"10592432037813100863","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":"17389855683325448983.mp4"}
+{"uid":"8197987924273219080","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop it on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop it 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":"16719636994823877559.mp4"}
+{"uid":"17957490934326266609","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":"2181341989376699864.mp4"}
+{"uid":"6680356761694206483","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Go to the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Go to the tissue on the table\n\u003c/PRED\u003e","video":"14892155220450427882.mp4"}
+{"uid":"400185739648459214","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":"6846283373064199051.mp4"}
+{"uid":"6541246377281599760","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4379366767644790925.mp4"}
+{"uid":"10791315246891961156","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- Take it to the black table 2- Wipe the table 3- Enter into the hallway 4- Drop the tissue on the table 5- Go to the office room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake it to 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: Take it to the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake it to 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: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Take it to the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue Q: immediate next step? \u003cPRED\u003eA: Take it to the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take it to the black table\n\u003c/PRED\u003e","video":"1287152988741202346.mp4"}
+{"uid":"18380712909421072901","text":"\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: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the table 2- Drop it on the black table 3- Move to the table 4- Pick up the laptop charger 5- Place it on the black 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\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: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 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","video":"6385944970505197486.mp4"}
+{"uid":"8121076680850250497","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the table 2- Pick up the laptop charger 3- Place it on the black table 4- Go to the hint bottle 5- Pick it up from 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: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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e","video":"7086533801141410893.mp4"}
+{"uid":"3867765638628652353","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pen 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":"18028695513388777252.mp4"}
+{"uid":"3764010163092582902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"9716717830052297420.mp4"}
+{"uid":"5787906884252343032","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table 11- Move to the table 12- Pick up the laptop charger 13- Place it on the black table 14- Go to the hint bottle 15- Pick it up from the table 16- Take it to the black table 17- Place the bottle in the holder Q: immediate next step? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table 11- Move to the table 12- Pick up the laptop charger 13- Place it on the black table 14- Go to the hint bottle 15- Pick it up from the table 16- Take it to the black table 17- Place the bottle in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move away 2- done\n\u003c/PRED\u003e","video":"12798857365234579576.mp4"}
+{"uid":"4735375769404587760","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Wipe the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nWipe the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Wipe the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Wipe the table 2- Enter into the hallway 3- Drop the tissue on the table 4- Go to the office room 5- Move to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nWipe the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table Q: immediate next step? \u003cPRED\u003eA: Wipe the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Wipe the table\n\u003c/PRED\u003e","video":"3816275679018770900.mp4"}
+{"uid":"2423608949991435755","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on 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":"16022092311759663569.mp4"}
+{"uid":"4715111374120992349","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take it to the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake it to 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":"12673961918319992703.mp4"}
+{"uid":"7125958249508290105","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a coconut water from the mk. last 20 steps: 1- Open the right door of the fridge Q: immediate next step? \u003cPRED\u003eA: Pick up the can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring me a coconut water from the mk Q: immediate next step? \u003cPRED\u003eA: Pick up the can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a coconut water from the mk. last 20 steps: 1- Open the right door of the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the can 2- done\n\u003c/PRED\u003e","video":"3906699607420718228.mp4"}
+{"uid":"16151932649722045997","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick it up from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table 11- Move to the table 12- Pick up the laptop charger 13- Place it on the black table 14- Go to the hint bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Pick it up from the table 2- Take it to the black table 3- Place the bottle in the holder 4- Move away 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Pick it up from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick 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:affordance:discriminative:discrete:True\u003e\nPick 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick it up from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table 11- Move to the table 12- Pick up the laptop charger 13- Place it on the black table 14- Go to the hint bottle Q: immediate next step? \u003cPRED\u003eA: Pick it up from the table\n\u003c/PRED\u003e","video":"11493901506265185940.mp4"}
+{"uid":"11148853527558908683","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":"14262190703623197242.mp4"}
+{"uid":"7724355500498067359","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop it on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop it 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: Drop it on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop it on the black table 2- Move to the table 3- Pick up the laptop charger 4- Place it on the black table 5- Go to the hint bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table Q: immediate next step? \u003cPRED\u003eA: Drop it on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Drop it on the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop it 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":"2711327168629431160.mp4"}
+{"uid":"5226445916176489721","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take it to the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake it to 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: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Take it to the black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake it to 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: Take it to the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table 11- Move to the table 12- Pick up the laptop charger 13- Place it on the black table 14- Go to the hint bottle 15- Pick it up from the table Q: immediate next step? \u003cPRED\u003eA: Take it to the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table 11- Move to the table 12- Pick up the laptop charger 13- Place it on the black table 14- Go to the hint bottle 15- Pick it up from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Take it to the black table 2- Place the bottle in the holder 3- Move away 4- done\n\u003c/PRED\u003e","video":"4809318586887227027.mp4"}
+{"uid":"11258285820574963797","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the bottle in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the bottle 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":"1607736279506685437.mp4"}
+{"uid":"1871860718430899149","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":"3252786633545289087.mp4"}
+{"uid":"9597734600816069572","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toy 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":"2967350187087135858.mp4"}
+{"uid":"13633475530762136433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pear into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8507839905791506292.mp4"}
+{"uid":"11518760666292631395","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrag the lids stack 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":"12946644586274817037.mp4"}
+{"uid":"10206946113122728858","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":"8118718277844256336.mp4"}
+{"uid":"3858064771389508009","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the right door of the fridge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the right door of the fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring me a coconut water from the mk Q: immediate next step? \u003cPRED\u003eA: Open the right door of the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the right door of the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a coconut water from the mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the right door of the fridge 2- Pick up the can 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a coconut water from the mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the right door of the fridge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the right door of the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10072488043360264722.mp4"}
+{"uid":"4077671804234568361","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the right door of the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the right door of the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1260188186098892519.mp4"}
+{"uid":"18352505922029102869","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":"2984723589522720630.mp4"}
+{"uid":"12807608928882242631","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the cup of pens into the conference room. last 20 steps: 1- pick up the holder from the table 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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the cup of pens into the conference room. last 20 steps: 1- pick up the holder from the table Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room 2- put holder on the table 3- put wire inside the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring the cup of pens into the conference room 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","video":"9897291767796801852.mp4"}
+{"uid":"16463899952681121898","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":"12306718081893500111.mp4"}
+{"uid":"10845364231744275865","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the  blue 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":"6553798722960436997.mp4"}
+{"uid":"4979153800389026895","text":"\u003ctask:success:discrete:True\u003e\nGo to 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the office room\n\u003c/PRED\u003e","video":"12381107466310828630.mp4"}
+{"uid":"1122641279845063219","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12891126212564699212.mp4"}
+{"uid":"5456344852817983457","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Place it on the black table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place it on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace it 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:discriminative:discrete:True\u003e\nPlace it 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: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table 11- Move to the table Q: immediate next step? \u003cPRED\u003eA: Place it on the black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table 11- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place it on the black table 2- Go to the hint bottle 3- Pick it up from the table 4- Take it to the black table 5- Place the bottle in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place it on the black table\n\u003c/PRED\u003e","video":"9339599053207863454.mp4"}
+{"uid":"7495526742540883932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"7993074770979297302.mp4"}
+{"uid":"1607176673491657871","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput wire inside the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the cup of pens into the conference room. last 20 steps: 1- pick up the holder from the table 2- enter the room 3- put holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put wire inside the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put wire inside the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the cup of pens into the conference room. last 20 steps: 1- pick up the holder from the table 2- enter the room 3- put holder on the table Q: immediate next step? \u003cPRED\u003eA: put wire inside the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put wire inside the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring the cup of pens into the conference room Q: immediate next step? \u003cPRED\u003eA: put wire inside the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput wire inside 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":"10192175561089710055.mp4"}
+{"uid":"14136544234214963379","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"5922303972153291184.mp4"}
+{"uid":"13030368598297296892","text":"\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: please bring the cup of pens into the conference room. last 20 steps: 1- pick up the holder from the table 2- enter the room 3- put holder on the table 4- put wire inside the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the cup of pens into the conference room. last 20 steps: 1- pick up the holder from the table 2- enter the room 3- put holder on the table 4- put wire inside the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring the cup of pens into the conference room Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"17498620713843503868.mp4"}
+{"uid":"8583972999602371898","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"4031639293531007449.mp4"}
+{"uid":"8034117413803178867","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"5983883840819963383.mp4"}
+{"uid":"14740370988858048851","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the hint bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table 11- Move to the table 12- Pick up the laptop charger 13- Place it on the black table Q: immediate next step? \u003cPRED\u003eA: Go to the hint bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Go to the hint bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table 11- Move to the table 12- Pick up the laptop charger 13- Place it on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the hint bottle 2- Pick it up from the table 3- Take it to the black table 4- Place the bottle in the holder 5- Move away\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the hint bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the 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","video":"6023235999530438778.mp4"}
+{"uid":"9847527408804871862","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"3556111514418624054.mp4"}
+{"uid":"5967757370774334320","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table 6- place the packet on the table 7- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17435005120911303876.mp4"}
+{"uid":"2658370356194695367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13427466676044296799.mp4"}
+{"uid":"17860402977422360387","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11925109673352507178.mp4"}
+{"uid":"13721183266892703560","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPour milk from the carton in the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6317778226434567876.mp4"}
+{"uid":"8364260685848850657","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":"8358542147396128602.mp4"}
+{"uid":"12176985145973037177","text":"\u003ctask:success:discrete:False\u003e\nPick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen 2- Move to the table 3- Pick up the laptop charger 4- Place it on the black table 5- Go to the hint bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room Q: immediate next step? \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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e","video":"16359100641192833801.mp4"}
+{"uid":"4415096269009619111","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the packet on the table 3- place the packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: 1- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"17252522893232503946.mp4"}
+{"uid":"12620320647318220324","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table 11- Move to the table Q: immediate next step? \u003cPRED\u003eA: Pick up the laptop charger\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the laptop charger\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the laptop charger\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the laptop charger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder. last 20 steps: 1- Go to the tissue on the table 2- Pick the tissue 3- Take it to the black table 4- Wipe the table 5- Enter into the hallway 6- Drop the tissue on the table 7- Go to the office room 8- Move to the table 9- Pick up the pen 10- Drop it on the black table 11- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the laptop charger 2- Go to the hint bottle 3- Pick it up from the table 4- Take it to the black table 5- Place the bottle in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean desk, bring pen and charger, and put drink in cup holder Q: immediate next step? \u003cPRED\u003eA: Pick up the laptop charger\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the laptop charger Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8042334481494851856.mp4"}
+{"uid":"7547386071539092046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the sanitizer bottle 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":"13092554241526365203.mp4"}
+{"uid":"12034006636534283996","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup 3- drop orange into cup Q: immediate next step? \u003cPRED\u003eA: drop knife into cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop knife into 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 knife into cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop knife into cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: drop knife into cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup 3- drop orange into cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop knife into cup 2- drop knife into cup 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop knife into cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10706651121357908487.mp4"}
+{"uid":"7481849905270352472","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput block in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the drawer 2- close the drawer 3- open the drawer 4- put block in the drawer 5- put block in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer Q: immediate next step? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer Q: immediate next step? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e","video":"11229468962653864154.mp4"}
+{"uid":"10061919761586941214","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen holder 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":"1265762820749056861.mp4"}
+{"uid":"301004248493936666","text":"\u003ctask:success:discrete:True\u003e\nunstuck 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: unstuck the cup\n\u003c/PRED\u003e","video":"10457672254787327039.mp4"}
+{"uid":"9101374777386859858","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":"17056765635103499553.mp4"}
+{"uid":"5938082957522458275","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1517505761090741725.mp4"}
+{"uid":"4984636992327258215","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop knife into cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: drop knife into cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup 3- drop orange into cup 4- drop knife into cup Q: immediate next step? \u003cPRED\u003eA: drop knife into cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop knife into 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 prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup 3- drop orange into cup 4- drop knife into cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop knife into cup 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop knife into 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: drop knife into cup\n\u003c/PRED\u003e","video":"17454035110720649090.mp4"}
+{"uid":"3821272159417452032","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"184914825225966624.mp4"}
+{"uid":"8320470163664796422","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: place the orange in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup Q: immediate next step? \u003cPRED\u003eA: place the orange in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the cup 2- drop knife into cup 3- drop knife into cup 4- done\n\u003c/PRED\u003e","video":"13409641907738878068.mp4"}
+{"uid":"6689311494243971452","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nseperate the lemon at 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":"12819777411972546183.mp4"}
+{"uid":"12278518539851591595","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop orange into 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":"8060244160750489852.mp4"}
+{"uid":"13117934975816196867","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange 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":"1992712852180750170.mp4"}
+{"uid":"16134010437985132857","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhang the bag on 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":"2340791757319452532.mp4"}
+{"uid":"8925360618581913643","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer Q: immediate next step? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- open the drawer 6- put block in the drawer Q: immediate next step? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- open the drawer 6- put block in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the drawer 2- close the drawer 3- open the drawer 4- put block in the drawer 5- put block in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2256050934318183190.mp4"}
+{"uid":"2597178365148117398","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup 3- drop orange into cup 4- drop knife into cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the knife in the cup 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the knife in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup 3- drop orange into cup 4- drop knife into cup Q: immediate next step? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knife in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3068071665599929003.mp4"}
+{"uid":"18320705493323211190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11042048771744884820.mp4"}
+{"uid":"4919374210149966356","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup Q: immediate next step? \u003cPRED\u003eA: put the orange in the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: put the orange in the paper 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 paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the paper bowl 2- drop orange into cup 3- drop knife into cup 4- drop knife into cup 5- done\n\u003c/PRED\u003e","video":"11976096698995438452.mp4"}
+{"uid":"3877647687852076373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput stapler 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":"1433759127930562615.mp4"}
+{"uid":"16410926199181548416","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: put the knife in the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup 3- drop orange into cup Q: immediate next step? \u003cPRED\u003eA: put the knife in the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knife in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knife 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knife in the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup 3- drop orange into cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the knife in the paper bowl 2- drop knife into cup 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the knife in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12198350815326776425.mp4"}
+{"uid":"12544861417041385318","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":"18263166051386441873.mp4"}
+{"uid":"4917890103802689571","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the glass vessel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15717764173694035504.mp4"}
+{"uid":"4582554586184929010","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":"10888311032559706956.mp4"}
+{"uid":"3812782456648039873","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop orange into 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":"8072446035064368093.mp4"}
+{"uid":"4382131873628070676","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":"4458026929363806155.mp4"}
+{"uid":"11914536748990328928","text":"\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\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:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup on the table 2- drop orange into cup 3- drop knife into cup 4- drop knife into cup 5- done\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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e","video":"9311352158756002473.mp4"}
+{"uid":"7850443048404408514","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- open the drawer 6- put block in the drawer 7- put block in the drawer 8- close the drawer 9- open the drawer 10- put block in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer Q: immediate next step? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- open the drawer 6- put block in the drawer 7- put block in the drawer 8- close the drawer 9- open the drawer 10- put block in the drawer Q: immediate next step? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e","video":"9287232825652251496.mp4"}
+{"uid":"16234556022872203318","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":"10216591189647541618.mp4"}
+{"uid":"16910277318905697044","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer Q: immediate next step? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- open the drawer 6- put block in the drawer 7- put block in the drawer 8- close the drawer 9- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the drawer 2- put block in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- open the drawer 6- put block in the drawer 7- put block in the drawer 8- close the drawer 9- open the drawer Q: immediate next step? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput block in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7111243166688920443.mp4"}
+{"uid":"2169805602466898313","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput block in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer Q: immediate next step? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the drawer 2- put block in the drawer 3- close the drawer 4- open the drawer 5- put block in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- open the drawer Q: immediate next step? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e","video":"15999046891458928317.mp4"}
+{"uid":"12541431708089548482","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstuck the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstuck the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstuck the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstuck the cup 2- drop orange into cup 3- drop orange into cup 4- drop knife into cup 5- drop knife into cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstuck the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: unstuck the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstuck the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17925290306432692648.mp4"}
+{"uid":"3337765679624696439","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":"15221169026021703444.mp4"}
+{"uid":"3422977217102373904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11666856509243089178.mp4"}
+{"uid":"4205989633253859484","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup Q: immediate next step? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into cup 2- drop knife into cup 3- drop knife into cup 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop orange into 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\ndrop orange into cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e","video":"11945508594646880453.mp4"}
+{"uid":"16064296774484297232","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup Q: immediate next step? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into cup 2- drop orange into cup 3- drop knife into cup 4- drop knife into cup 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange into cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop orange into cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13766446818383808305.mp4"}
+{"uid":"9399638632659647561","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- open the drawer 6- put block in the drawer 7- put block in the drawer 8- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- open the drawer 6- put block in the drawer 7- put block in the drawer 8- close the drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask: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":"6824626348868063431.mp4"}
+{"uid":"9679485562187969561","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nfold the left bottom corner of tshirt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8033159647103251399.mp4"}
+{"uid":"17553191000959515688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2910274911843418216.mp4"}
+{"uid":"13404332680443715135","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange 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":"6489164619830665153.mp4"}
+{"uid":"12324706682771395030","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":"3265220621481110061.mp4"}
+{"uid":"14808355668742823066","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"861593165195095966.mp4"}
+{"uid":"7244531146088797373","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:planning:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in 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: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- open the drawer 3- put block in the drawer 4- put block in the drawer 5- 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":"12693948345871275591.mp4"}
+{"uid":"2198539997985116085","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: place the orange in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup Q: immediate next step? \u003cPRED\u003eA: place the orange in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the cup 2- drop orange into cup 3- drop knife into cup 4- drop knife into cup 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in the cup\n\u003c/PRED\u003e","video":"9635782250154627312.mp4"}
+{"uid":"1103142915535451724","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":"14640532449746839089.mp4"}
+{"uid":"8585482413663928658","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup 3- drop orange into cup Q: immediate next step? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup 3- drop orange into cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the knife in the cup 2- drop knife into cup 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knife in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the knife in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knife in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9521202389677733844.mp4"}
+{"uid":"8826857366801238466","text":"\u003ctask:success:discrete:True\u003e\nput block in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e","video":"13826509426814653143.mp4"}
+{"uid":"14467662988435868659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"14427907647660316909.mp4"}
+{"uid":"16820891261694544847","text":"\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- open the drawer 6- put block in the drawer 7- put block in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- open the drawer 3- put block in the drawer 4- put block in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- open the drawer 6- put block in the drawer 7- put block in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"7027817475483534305.mp4"}
+{"uid":"1339204433827171440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic glass 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":"13018096444217445369.mp4"}
+{"uid":"6308930909122084141","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":"383244735684123860.mp4"}
+{"uid":"9153022609444863549","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop knife into cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup 3- drop orange into cup 4- drop knife into cup 5- drop knife into cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup 3- drop orange into cup 4- drop knife into cup 5- drop knife into cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop knife into 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":"17283684290512571333.mp4"}
+{"uid":"14271594962449561978","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 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: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: please put blocks back into its correct color drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- 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":"17136642728925403818.mp4"}
+{"uid":"5802782316070791160","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11195498031655162081.mp4"}
+{"uid":"7773463595683773130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen 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":"772294260677266086.mp4"}
+{"uid":"7765659580760352192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy 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":"18186560600914150121.mp4"}
+{"uid":"18237790024076289252","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer Q: immediate next step? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput block in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the drawer 2- put block in the drawer 3- close the drawer 4- open the drawer 5- put block in the drawer\n\u003c/PRED\u003e","video":"16466891787006385897.mp4"}
+{"uid":"15109340728065390107","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10769671153724012390.mp4"}
+{"uid":"17650387760205123257","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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","video":"6817444323059394505.mp4"}
+{"uid":"13437173474237530415","text":"\u003ctask:success:discrete:False\u003e\nput the knife in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the knife in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the knife 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup 3- drop orange into cup 4- drop knife into cup Q: immediate next step? \u003cPRED\u003eA: put the knife in the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: put the knife in the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup 3- drop orange into cup 4- drop knife into cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the knife 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 the knife in the paper bowl\n\u003c/PRED\u003e","video":"8973439649226766305.mp4"}
+{"uid":"15246201451172300534","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- open the drawer 6- put block in the drawer 7- put block in the drawer 8- close the drawer 9- open the drawer 10- put block in the drawer 11- put block in 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: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: please put blocks back into its correct color drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put blocks back into its correct color drawer. last 20 steps: 1- open the drawer 2- put block in the drawer 3- put block in the drawer 4- close the drawer 5- open the drawer 6- put block in the drawer 7- put block in the drawer 8- close the drawer 9- open the drawer 10- put block in the drawer 11- put block in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e","video":"17380572387264227671.mp4"}
+{"uid":"15654561169413144632","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":"385769678805032268.mp4"}
+{"uid":"13255116308285336222","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place cup on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place cup on table 2- drop orange into cup 3- drop orange into cup 4- drop knife into cup 5- drop knife into cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place cup on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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","video":"15584902890167663369.mp4"}
+{"uid":"51935025735552540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop knife in a 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":"10399457184424082626.mp4"}
+{"uid":"14296409530926796628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cereal 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":"6125894452260663582.mp4"}
+{"uid":"6398691249514999267","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"245495772447870405.mp4"}
+{"uid":"8689420395414928475","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup Q: immediate next step? \u003cPRED\u003eA: put the orange in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- unstuck the cup 2- drop orange into cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the paper bowl 2- drop knife into cup 3- drop knife into cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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 prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: put the orange in the paper bowl\n\u003c/PRED\u003e","video":"14990277673688549797.mp4"}
+{"uid":"9973815147978628098","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the cup 2- drop orange into cup 3- drop orange into cup 4- drop knife into cup 5- drop knife into cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack 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: unstack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e","video":"4207279917537076102.mp4"}
+{"uid":"14860354423973485873","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":"1665181846028145856.mp4"}
+{"uid":"6552537144886616327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can on the table next 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":"1243689248920619172.mp4"}
+{"uid":"3848954558138912076","text":"\u003ctask:success:discrete:True\u003e\nput the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e","video":"15316503536009305188.mp4"}
+{"uid":"15495036037323348733","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- stack the candy\n\u003c/PRED\u003e","video":"10894166105435352041.mp4"}
+{"uid":"537202465238849849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets 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":"11572354630969805066.mp4"}
+{"uid":"1426637509803980583","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":"18286412720885248869.mp4"}
+{"uid":"11617286583889616870","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab Joe a yellow Croix drink and place it on his working desk. Q: immediate next step? \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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab Joe a yellow Croix drink and place it on his working desk. . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab Joe a yellow Croix drink and place it on his working desk. . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the fridge 2- Put the can on the table 3- done\n\u003c/PRED\u003e","video":"7429324729023974715.mp4"}
+{"uid":"15206312787253014706","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace strawberry on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 strawberry on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the strawberries from the bowl. last 20 steps: 1- place strawberry on the table 2- place strawberry on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place strawberry on the table 2- place strawberry on the table 3- place strawberry on the table 4- place strawberry on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the strawberries from the bowl. last 20 steps: 1- place strawberry on the table 2- place strawberry on the table Q: immediate next step? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e","video":"5647075664807516254.mp4"}
+{"uid":"8686165000659379274","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy 10- stack the candy Q: next 5 steps? \u003cPRED\u003eA: 1- stack the candy 2- stack the candy 3- stack the candy 4- stack the candy 5- stack the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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: stack the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy 10- stack the candy Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e","video":"13470804002570844970.mp4"}
+{"uid":"17728571674894821131","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy on the table 2- put the candy on the table 3- stack the candy 4- stack the candy 5- stack the candy\n\u003c/PRED\u003e","video":"15077516675159097203.mp4"}
+{"uid":"5361300745209799673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass on the top of the existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"409014353931993844.mp4"}
+{"uid":"3875084295863058435","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white 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":"3697858823912767722.mp4"}
+{"uid":"5165877193905477870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the sachets in the queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9799232194442273109.mp4"}
+{"uid":"6993499805753670106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green packet on the backside table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10124944666753314972.mp4"}
+{"uid":"15527492883845058901","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green marker in glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10183770526672620876.mp4"}
+{"uid":"5377824104098456212","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10642257447592688676.mp4"}
+{"uid":"16357757997121698847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"5788818409126440426.mp4"}
+{"uid":"14929360759880180514","text":"\u003ctask:success:discrete:True\u003e\nput the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e","video":"14216199514681606013.mp4"}
+{"uid":"1746698729569184603","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- stack the candy 5- stack the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e","video":"14272379612578586968.mp4"}
+{"uid":"1573141049406568597","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab Joe a yellow Croix drink and place it on his working desk. . last 20 steps: 1- Open the fridge Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab Joe a yellow Croix drink and place it on his working desk. . last 20 steps: 1- Open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: Grab Joe a yellow Croix drink and place it on his working desk. Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"10495891020878297193.mp4"}
+{"uid":"1532713761333010990","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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: stack the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy Q: next 5 steps? \u003cPRED\u003eA: 1- stack the candy 2- stack the candy 3- stack the candy 4- stack the candy 5- stack the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e","video":"5497924691971474970.mp4"}
+{"uid":"6578592648502737481","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e","video":"10553720077040335629.mp4"}
+{"uid":"4039137121965520089","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":"6919102004557800434.mp4"}
+{"uid":"16396544963232437508","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8694196576214358296.mp4"}
+{"uid":"16445620847358054525","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the cartoon 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":"380359588454518539.mp4"}
+{"uid":"10031495994369105743","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":"11342120683556104446.mp4"}
+{"uid":"13988376446482625245","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the strawberries from the bowl. last 20 steps: 1- place strawberry on the table 2- place strawberry on the table 3- place strawberry on the table 4- place strawberry on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place strawberry on the table 2- place strawberry on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the strawberries from the bowl. last 20 steps: 1- place strawberry on the table 2- place strawberry on the table 3- place strawberry on the table 4- place strawberry on the table Q: immediate next step? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace strawberry on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2607164998119243314.mp4"}
+{"uid":"11018742803388527613","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab Joe a yellow Croix drink and place it on his working desk. . last 20 steps: 1- Open the fridge 2- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab Joe a yellow Croix drink and place it on his working desk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab Joe a yellow Croix drink and place it on his working desk. . last 20 steps: 1- Open the fridge 2- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8887439055462803359.mp4"}
+{"uid":"15136213406897728853","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":"6341644476890138847.mp4"}
+{"uid":"16733149609033511784","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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: stack the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy 10- stack the candy 11- stack the candy 12- stack the candy 13- stack the candy Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy 10- stack the candy 11- stack the candy 12- stack the candy 13- stack the candy Q: next 5 steps? \u003cPRED\u003eA: 1- stack the candy 2- stack the candy 3- stack the candy 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e","video":"8167052980425308404.mp4"}
+{"uid":"16719301158147428373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17950940906412487659.mp4"}
+{"uid":"9812805318449588743","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the strawberries from the bowl. last 20 steps: 1- place strawberry on the table 2- place strawberry on the table 3- place strawberry on the table 4- place strawberry on the table 5- place strawberry on the table Q: immediate next step? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace strawberry on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 strawberries from the bowl. last 20 steps: 1- place strawberry on the table 2- place strawberry on the table 3- place strawberry on the table 4- place strawberry on the table 5- place strawberry on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place strawberry on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e","video":"15272779770875144669.mp4"}
+{"uid":"17074425631243490571","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace strawberry 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 strawberries from the bowl. last 20 steps: 1- place strawberry on the table 2- place strawberry on the table 3- place strawberry on the table 4- place strawberry on the table 5- place strawberry on the table 6- place strawberry on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the strawberries from the bowl. last 20 steps: 1- place strawberry on the table 2- place strawberry on the table 3- place strawberry on the table 4- place strawberry on the table 5- place strawberry on the table 6- place strawberry on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"14538508381012298485.mp4"}
+{"uid":"8614854519086425623","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":"5240385124677744222.mp4"}
+{"uid":"7648061165638082653","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14868047720910030286.mp4"}
+{"uid":"4650313204536344394","text":"\u003ctask:success:discrete:False\u003e\nput the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e","video":"9607705915848292112.mp4"}
+{"uid":"13186273964049708958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"8528734361331503910.mp4"}
+{"uid":"7504064685012537033","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup front 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":"10801511015378787494.mp4"}
+{"uid":"7232363827997794329","text":"\u003ctask:success:discrete:True\u003e\nput the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e","video":"4043493578205826598.mp4"}
+{"uid":"3278920377094373800","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the strawberries from the bowl. last 20 steps: 1- place strawberry on the table 2- place strawberry on the table 3- place strawberry on the table Q: immediate next step? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the strawberries from the bowl. last 20 steps: 1- place strawberry on the table 2- place strawberry on the table 3- place strawberry on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place strawberry on the table 2- place strawberry on the table 3- place strawberry on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace strawberry on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e","video":"954616357376502245.mp4"}
+{"uid":"5751991617600556396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"17053569769436357875.mp4"}
+{"uid":"6467188060130947194","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy 10- stack the candy 11- stack the candy Q: next 5 steps? \u003cPRED\u003eA: 1- stack the candy 2- stack the candy 3- stack the candy 4- stack the candy 5- stack the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy 10- stack the candy 11- stack the candy Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e","video":"6339225350197535131.mp4"}
+{"uid":"9088314881878971722","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":"17189837658251845454.mp4"}
+{"uid":"12690384824273895014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"6216082085192372323.mp4"}
+{"uid":"1097319346298217446","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e","video":"10269705046722706298.mp4"}
+{"uid":"13804581879408662499","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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: stack the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy 10- stack the candy 11- stack the candy 12- stack the candy 13- stack the candy 14- stack the candy 15- stack the candy Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy 10- stack the candy 11- stack the candy 12- stack the candy 13- stack the candy 14- stack the candy 15- stack the candy Q: next 5 steps? \u003cPRED\u003eA: 1- stack the candy 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e","video":"3601431309982723766.mp4"}
+{"uid":"1721780672870597741","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack 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: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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: stack the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- stack the candy 2- stack the candy 3- stack the candy 4- stack the candy 5- stack the candy\n\u003c/PRED\u003e","video":"2950809908589896699.mp4"}
+{"uid":"9865841992863081593","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9969513443283202391.mp4"}
+{"uid":"6372832314090321705","text":"\u003ctask:success:discrete:True\u003e\nstack the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy 10- stack the candy 11- stack the candy 12- stack the candy 13- stack the candy 14- stack the candy 15- stack the candy 16- stack the candy Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy 10- stack the candy 11- stack the candy 12- stack the candy 13- stack the candy 14- stack the candy 15- stack the candy 16- stack the candy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7241276322931791629.mp4"}
+{"uid":"3263612596062691541","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy on the table 2- stack the candy 3- stack the candy 4- stack the candy 5- stack the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8820265914298330751.mp4"}
+{"uid":"15789777314580072774","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4002824636910975643.mp4"}
+{"uid":"4008481732922138057","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy 10- stack the candy 11- stack the candy 12- stack the candy Q: next 5 steps? \u003cPRED\u003eA: 1- stack the candy 2- stack the candy 3- stack the candy 4- stack the candy 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy 10- stack the candy 11- stack the candy 12- stack the candy Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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":"11305763489109928509.mp4"}
+{"uid":"7023515138737672330","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":"14745232940644367020.mp4"}
+{"uid":"2678181106455671654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"261842055830999901.mp4"}
+{"uid":"12874694072435726454","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table Q: immediate next step? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy on the table\n\u003c/PRED\u003e","video":"7583873077353710959.mp4"}
+{"uid":"7094194746548322863","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy 10- stack the candy 11- stack the candy 12- stack the candy 13- stack the candy 14- stack the candy Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- put the candy on the table 2- put the candy on the table 3- put the candy on the table 4- put the candy on the table 5- put the candy on the table 6- put the candy on the table 7- put the candy on the table 8- put the candy on the table 9- stack the candy 10- stack the candy 11- stack the candy 12- stack the candy 13- stack the candy 14- stack the candy Q: next 5 steps? \u003cPRED\u003eA: 1- stack the candy 2- stack the candy 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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":"9116496797651781655.mp4"}
+{"uid":"17535417219840588535","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":"4198683750385429518.mp4"}
+{"uid":"17818337323104689332","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the strawberries from the bowl. last 20 steps: 1- place strawberry on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place strawberry on the table 2- place strawberry on the table 3- place strawberry on the table 4- place strawberry on the table 5- place strawberry on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the strawberries from the bowl. last 20 steps: 1- place strawberry on the table Q: immediate next step? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace strawberry on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2134143983443560143.mp4"}
+{"uid":"11090283268141477241","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Go to the left side bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the left side bin 2- Move left 3- Drop the paper cup in the bin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the left side bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the left side bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the left side 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\nGo to the left side 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: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin Q: immediate next step? \u003cPRED\u003eA: Go to the left side bin\n\u003c/PRED\u003e","video":"7091633946655869143.mp4"}
+{"uid":"12827933981353532321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip 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":"8538380184970746882.mp4"}
+{"uid":"17956038145256891990","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Place the paper in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the paper 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:discriminative:discrete:True\u003e\nPlace the paper 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper Q: next 5 steps? \u003cPRED\u003eA: 1- Place the paper in the paper cup 2- Grasp the paper cup 3- Move the paper cup away from the table 4- exit the room 5- Move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper Q: immediate next step? \u003cPRED\u003eA: Place the paper in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the paper in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the paper in the paper cup\n\u003c/PRED\u003e","video":"4674722112003427846.mp4"}
+{"uid":"8224479819411749653","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the paper cup into the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the paper cup 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- Move left 12- Drop the paper cup into the bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- Move left 12- Drop the paper cup into the bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10845534673249726766.mp4"}
+{"uid":"14906969894284262393","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the tissue paper from the table 2- Grasp the paper cup 3- Move the paper cup away from the table 4- exit the room 5- Move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the tissue 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:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue paper 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 tissue paper from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue 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 tissue paper from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the tissue 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","video":"14321179853166848761.mp4"}
+{"uid":"9256268666410606352","text":"\u003ctask:success:discrete:True\u003e\nGo to the left side bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the left side bin\n\u003c/PRED\u003e","video":"8818004549840197304.mp4"}
+{"uid":"11441189159208334296","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":"16750898913899540582.mp4"}
+{"uid":"14861542520002775547","text":"\u003ctask:success:discrete:True\u003e\nPick up the chocolate wrapper 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 chocolate wrapper from the table\n\u003c/PRED\u003e","video":"16079006256561936315.mp4"}
+{"uid":"16787290074503948967","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown paper cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: pick the brown paper cup from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown paper cup from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown paper cup from the table 2- exit the room 3- Move forward 4- Move towards the recycle bin 5- Move towards the left side recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brown paper cup from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brown paper cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup Q: immediate next step? \u003cPRED\u003eA: pick the brown paper cup from the table\n\u003c/PRED\u003e","video":"8732676364947513491.mp4"}
+{"uid":"6841265279945833495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white 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":"4723523948416591850.mp4"}
+{"uid":"9900339990092080396","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":"18413551247752305909.mp4"}
+{"uid":"3789887916806528392","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- Move left 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove 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: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin Q: immediate next step? \u003cPRED\u003eA: Move left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Move left\n\u003c/PRED\u003e","video":"15123714750831676083.mp4"}
+{"uid":"4615016941426197258","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the tissue paper into the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the tissue paper into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1269153045561604462.mp4"}
+{"uid":"15426404558510374491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack up the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tissue paper 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup Q: immediate next step? \u003cPRED\u003eA: Place the tissue paper in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Place the tissue paper in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tissue paper in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tissue paper in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tissue paper in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tissue paper in the paper cup 2- Grasp the paper cup 3- Move the paper cup away from the table 4- exit the room 5- Move forward\n\u003c/PRED\u003e","video":"1853249878516608526.mp4"}
+{"uid":"6044716184487790967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the popup 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":"17952775298201006307.mp4"}
+{"uid":"295255351602322795","text":"\u003ctask:success:discrete:False\u003e\nput the wrapper in the brown paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper Q: immediate next step? \u003cPRED\u003eA: put the wrapper in the brown paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the wrapper in the brown paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: put the wrapper in the brown paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the wrapper in the brown paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper Q: next 5 steps? \u003cPRED\u003eA: 1- put the wrapper in the brown paper cup 2- Place the paper in the paper cup 3- Grasp the paper cup 4- Move the paper cup away from the table 5- exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the wrapper in the brown 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","video":"11222350201065546981.mp4"}
+{"uid":"13080314920386626525","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the paper cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the paper cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the paper cup from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the paper cup from the table 2- exit the room 3- Move forward 4- Move towards the recycle bin 5- Move towards the left side recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup 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 paper cup from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup from the table\n\u003c/PRED\u003e","video":"17278735056149204746.mp4"}
+{"uid":"4658358779547301147","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Move to the tissue paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper Q: immediate next step? \u003cPRED\u003eA: Move to the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the tissue paper 2- Grasp the paper cup 3- Move the paper cup away from the table 4- exit the room 5- Move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to 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\nMove to 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: Move to the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the tissue paper\n\u003c/PRED\u003e","video":"7013806340837436346.mp4"}
+{"uid":"15137981614247953650","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the chocolate wrapper from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Pick up the chocolate wrapper 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 chocolate wrapper from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the chocolate wrapper from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the chocolate wrapper 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the chocolate wrapper from the table 2- Drop the chocolate wrapper into the paper cup 3- Place the paper in the paper cup 4- Grasp the paper cup 5- Move the paper cup away from the table\n\u003c/PRED\u003e","video":"18057777612982457233.mp4"}
+{"uid":"2610444310140707818","text":"\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:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Go straight\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Go straight 2- Move forward 3- Move towards the recycle bin 4- Move towards the left side recycle bin 5- Move left\n\u003c/PRED\u003e\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go straight\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup Q: immediate next step? \u003cPRED\u003eA: Go straight\n\u003c/PRED\u003e","video":"16893608897945719508.mp4"}
+{"uid":"4231115771677926388","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":"11391976114193409515.mp4"}
+{"uid":"11738257784623362271","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen first aid 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":"8310725908463946880.mp4"}
+{"uid":"2391638122431911637","text":"\u003ctask:success:discrete:True\u003e\nDrop the tissue paper into the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the tissue paper into the paper cup\n\u003c/PRED\u003e","video":"4805479734772842590.mp4"}
+{"uid":"9165482590933403404","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":"13081845938178193029.mp4"}
+{"uid":"2233629249579362795","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue 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 tissue paper from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue paper 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 tissue paper from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the tissue paper from the table 2- Grasp the paper cup 3- Move the paper cup away from the table 4- exit the room 5- Move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the tissue 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","video":"3152200958615786762.mp4"}
+{"uid":"5333202622431699295","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"14296919680617443562.mp4"}
+{"uid":"5565375497379617700","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack coffee cup lid in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17360505249272345306.mp4"}
+{"uid":"18010752057715933426","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":"11545141445573565421.mp4"}
+{"uid":"8806118177664470348","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table Q: immediate next step? \u003cPRED\u003eA: Move inside the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Move inside the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove inside 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: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move inside the room 2- Move towards the recycle bin 3- Move towards the left side recycle bin 4- Move left 5- Drop the paper cup in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move inside the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove inside 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: Move inside the room\n\u003c/PRED\u003e","video":"3537854546368646830.mp4"}
+{"uid":"5776752925131485774","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards 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":"4271795086417056612.mp4"}
+{"uid":"17172017185307121736","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the paper cup 2- Move the paper cup away from the table 3- exit the room 4- Move forward 5- Move towards the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup Q: immediate next step? \u003cPRED\u003eA: Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp 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: Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp 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: Grasp the paper cup\n\u003c/PRED\u003e","video":"7788556222564529704.mp4"}
+{"uid":"14701146887309239358","text":"\u003ctask:success:discrete:True\u003e\nMove towards the chocolate wrapper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 chocolate wrapper\n\u003c/PRED\u003e","video":"3415661277574480188.mp4"}
+{"uid":"7860669228021906044","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Drop the chocolate wrapper into the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the chocolate wrapper into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the chocolate wrapper into the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the chocolate wrapper into the paper cup 2- Place the paper in the paper cup 3- Grasp the paper cup 4- Move the paper cup away from the table 5- exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper Q: immediate next step? \u003cPRED\u003eA: Drop the chocolate wrapper into the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the chocolate wrapper into 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:discriminative:discrete:True\u003e\nDrop the chocolate wrapper into 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","video":"99797743625471235.mp4"}
+{"uid":"4504738530562813227","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tray 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":"5773650333149640886.mp4"}
+{"uid":"9949508352775845262","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the left side recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the left side 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":"5297366511095191417.mp4"}
+{"uid":"6285530926007354927","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper Q: immediate next step? \u003cPRED\u003eA: Pick up the chocolate wrapper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the chocolate wrapper 2- Drop the chocolate wrapper into the paper cup 3- Place the paper in the paper cup 4- Grasp the paper cup 5- Move the paper cup away from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the chocolate wrapper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Pick up the chocolate wrapper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the chocolate wrapper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the chocolate wrapper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the chocolate wrapper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1798616220000804038.mp4"}
+{"uid":"13367743532351297733","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue wrap in the brown paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue wrap in the brown paper cup\n\u003c/PRED\u003e","video":"1383445764218826337.mp4"}
+{"uid":"5009680018050855187","text":"\u003ctask:success:discrete:True\u003e\nPlace the tissue paper in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the tissue paper in the paper cup\n\u003c/PRED\u003e","video":"14287512369067639070.mp4"}
+{"uid":"13713700785955950429","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white 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":"2180088095678497955.mp4"}
+{"uid":"12767820766906654997","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper Q: immediate next step? \u003cPRED\u003eA: Drop the chocolate wrapper in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the chocolate wrapper 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the chocolate wrapper in the paper cup 2- Place the paper in the paper cup 3- Grasp the paper cup 4- Move the paper cup away from the table 5- exit the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the chocolate wrapper 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:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Drop the chocolate wrapper in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the chocolate wrapper in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the chocolate wrapper in the paper cup\n\u003c/PRED\u003e","video":"17788238783021343982.mp4"}
+{"uid":"159608834521851760","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the wrapper from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the wrapper from the table 2- Drop the chocolate wrapper into the paper cup 3- Place the paper in the paper cup 4- Grasp the paper cup 5- Move the paper cup away from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the wrapper from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the wrapper 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 the wrapper from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: pick the wrapper from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the wrapper from the table\n\u003c/PRED\u003e","video":"4047158232776435926.mp4"}
+{"uid":"10625489689300785438","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the compostables\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the compostables 2- Move towards the left side recycle bin 3- Move left 4- Drop the paper cup in the bin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the compostables Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Move towards the compostables\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the compostables\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the compostables Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room Q: immediate next step? \u003cPRED\u003eA: Move towards the compostables\n\u003c/PRED\u003e","video":"9840045130600858302.mp4"}
+{"uid":"184332518414629555","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":"14306616641364809729.mp4"}
+{"uid":"4755024520055304949","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: move to the left trash can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the left trash can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the left trash can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the left trash can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left trash can 2- Move left 3- Drop the paper cup in the bin 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin Q: immediate next step? \u003cPRED\u003eA: move to the left trash can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the left trash can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2898860559123725649.mp4"}
+{"uid":"18068316963475233390","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":"14521543297026072139.mp4"}
+{"uid":"6935740019775786006","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a marker 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":"9620658627507439704.mp4"}
+{"uid":"10075935324127876146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"135455332125719597.mp4"}
+{"uid":"16194682375146460886","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the right side potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13353919175490465711.mp4"}
+{"uid":"9275984437878331272","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- put the brown paper cup into the trash can Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- put the brown paper cup into the trash can Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown paper cup into the trash can\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown paper cup into the trash can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13152132497620816692.mp4"}
+{"uid":"18120918744038325747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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\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":"3852847055313382670.mp4"}
+{"uid":"12969295593824140094","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pipcorn 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":"17688038327789229836.mp4"}
+{"uid":"15896889240446014032","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9864362991179921845.mp4"}
+{"uid":"985902752098000461","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":"17794731697825329299.mp4"}
+{"uid":"15430774512032035042","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the recycle bin 2- Move towards the left side recycle bin 3- Move left 4- Drop the paper cup in the bin 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards 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: Move towards the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Move towards the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards 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: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward Q: immediate next step? \u003cPRED\u003eA: Move towards the recycle bin\n\u003c/PRED\u003e","video":"1627290959030574883.mp4"}
+{"uid":"289822579459345755","text":"\u003ctask:success:discrete:False\u003e\nRelease the paper cup in the left side 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: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- Move left Q: next 5 steps? \u003cPRED\u003eA: 1- Release the paper cup in the left side recycle bin 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- Move left Q: immediate next step? \u003cPRED\u003eA: Release the paper cup in the left side recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Release the paper cup in the left side recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the paper cup in the left side 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: Release the paper cup in the left side recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the paper cup in the left side recycle bin\n\u003c/PRED\u003e","video":"8647583759512688273.mp4"}
+{"uid":"182848706377519458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace numi bag 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":"17366399613827044266.mp4"}
+{"uid":"3825851140748517662","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":"9041597538211397522.mp4"}
+{"uid":"311633779299921803","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the potato chip 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":"12681455560703501647.mp4"}
+{"uid":"13808251806587947257","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolates 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":"10993419104037762418.mp4"}
+{"uid":"6668537816419270271","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the room 2- Move forward 3- Move towards the recycle bin 4- Move towards the left side recycle bin 5- Move left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 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: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: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen 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","video":"16608869518960134652.mp4"}
+{"uid":"3936822672963112662","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the paper cup in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- Drop the paper cup in the bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- Drop the paper cup in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the paper cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12354272129639473345.mp4"}
+{"uid":"7763699350944500688","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Go to the right trash can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the right trash can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the right trash can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the right trash can 2- Move towards the left side recycle bin 3- Move left 4- Drop the paper cup in the bin 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward Q: immediate next step? \u003cPRED\u003eA: Go to the right trash can\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the right trash can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the right trash can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3362685887100381498.mp4"}
+{"uid":"13454982152979206247","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut paper bag 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":"2703584068348813259.mp4"}
+{"uid":"7579114460860746158","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the left compostable bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the left compostable 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":"5409669538956717685.mp4"}
+{"uid":"18193093423016196807","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":"13538795193575115812.mp4"}
+{"uid":"16215907243675757010","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the paper in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the paper in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17890318621849749910.mp4"}
+{"uid":"6519360849453403147","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup Q: immediate next step? \u003cPRED\u003eA: Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the paper cup 2- Move the paper cup away from the table 3- exit the room 4- Move forward 5- Move towards the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp 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: Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the paper cup\n\u003c/PRED\u003e","video":"5212947650498022532.mp4"}
+{"uid":"8450771726053388109","text":"\u003ctask:success:discrete:False\u003e\nPlace the blue wrap in the brown 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:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Place the blue wrap in the brown paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the blue wrap in the brown paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue wrap in the brown paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue wrap in the brown 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue wrap in the brown paper cup 2- Place the paper in the paper cup 3- Grasp the paper cup 4- Move the paper cup away from the table 5- exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue wrap in the brown paper cup\n\u003c/PRED\u003e","video":"3081390072137078011.mp4"}
+{"uid":"15592774214529014166","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose second 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":"3776119476035864605.mp4"}
+{"uid":"15233241108455246808","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the paper cup away from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Move the paper cup away from the table 2- Move forward 3- Move towards the recycle bin 4- Move towards the left side recycle bin 5- Move left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup Q: immediate next step? \u003cPRED\u003eA: Move the paper cup away from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the paper cup away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Move the paper cup away from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the paper cup away from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the paper cup away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9521261570491388195.mp4"}
+{"uid":"693209974779287493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nLift up the coconut tetra pack 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":"6593714215113160296.mp4"}
+{"uid":"2987282676522922315","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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room Q: immediate next step? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move forward 2- Move towards the recycle bin 3- Move towards the left side recycle bin 4- Move left 5- Drop the paper cup in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e","video":"11594524910135295114.mp4"}
+{"uid":"2616524686492769421","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Enter the room ahead\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nEnter the room ahead Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 ahead Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the room ahead 2- Move forward 3- Move towards the recycle bin 4- Move towards the left side recycle bin 5- Move left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table Q: immediate next step? \u003cPRED\u003eA: Enter the room ahead\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter the room ahead\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter the room ahead\n\u003c/PRED\u003e","video":"9326614010751154025.mp4"}
+{"uid":"13729359504796618110","text":"\u003ctask:success:discrete:False\u003e\nMove towards the right side 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: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the right side bin 2- Move towards the left side recycle bin 3- Move left 4- Drop the paper cup in the bin 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Move towards the right side bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the right side bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room Q: immediate next step? \u003cPRED\u003eA: Move towards the right side bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the right side 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: Move towards the right side bin\n\u003c/PRED\u003e","video":"3025410947938847155.mp4"}
+{"uid":"16178942903884804142","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Move towards the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards 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: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup Q: immediate next step? \u003cPRED\u003eA: Move towards the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the room 2- Move forward 3- Move towards the recycle bin 4- Move towards the left side recycle bin 5- Move left\n\u003c/PRED\u003e","video":"8622753581864610364.mp4"}
+{"uid":"785032695765024092","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper into the brown paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup Q: immediate next step? \u003cPRED\u003eA: drop the paper into the brown paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper into the brown paper cup 2- Grasp the paper cup 3- Move the paper cup away from the table 4- exit the room 5- Move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: drop the paper into the brown paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper into the brown 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:success:discrete:False\u003e\ndrop the paper into the brown 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper into the brown paper cup\n\u003c/PRED\u003e","video":"8202535946475277314.mp4"}
+{"uid":"9368149097321938823","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Pick up the chocolate wrapper from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the chocolate wrapper from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the chocolate wrapper from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the chocolate wrapper 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 chocolate wrapper from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the chocolate wrapper from the table 2- Drop the chocolate wrapper into the paper cup 3- Place the paper in the paper cup 4- Grasp the paper cup 5- Move the paper cup away from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the chocolate wrapper 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","video":"15847528428305026374.mp4"}
+{"uid":"11878436690789691051","text":"\u003ctask:success:discrete:True\u003e\nMove inside the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move inside the room\n\u003c/PRED\u003e","video":"14138903223163127495.mp4"}
+{"uid":"14705876838558995359","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- Drop the paper cup in the left compostable bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the paper cup in the left compostable bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the paper cup in the left compostable bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- Drop the paper cup in the left compostable bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2574101144449334568.mp4"}
+{"uid":"11532590923265311356","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":"17740733920918421018.mp4"}
+{"uid":"2459228777086458310","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up 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:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the paper cup 2- exit the room 3- Move forward 4- Move towards the recycle bin 5- Move towards the left side recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the paper cup\n\u003c/PRED\u003e","video":"10076358174147882751.mp4"}
+{"uid":"8710060392087966854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bottom white box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7345547585586616965.mp4"}
+{"uid":"17291611618941218066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the notepad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13045443399833574308.mp4"}
+{"uid":"3532834435796763453","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Move towards the chocolate wrapper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the chocolate wrapper on the table 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the chocolate wrapper 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: Move towards the chocolate wrapper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the chocolate wrapper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the chocolate wrapper on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the chocolate wrapper on the table\n\u003c/PRED\u003e","video":"9433304667520688491.mp4"}
+{"uid":"7223109622673093678","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the paper cup in the left side recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- Move left 12- Release the paper cup in the left side recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRelease the paper cup in the left side 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:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- Move left 12- Release the paper cup in the left side recycle bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12372210879072813318.mp4"}
+{"uid":"16535764456821829878","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":"11107945435548890183.mp4"}
+{"uid":"5769526872958437839","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":"15799184315976945012.mp4"}
+{"uid":"11249294422237891359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"13075433661591511475.mp4"}
+{"uid":"16152322794367752210","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":"9703079313873508751.mp4"}
+{"uid":"13821246470254179434","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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: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: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- Move forward 3- Move towards the recycle bin 4- Move towards the left side recycle bin 5- Move left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"16380686946746397825.mp4"}
+{"uid":"15345229307638258308","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Move to the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room Q: immediate next step? \u003cPRED\u003eA: Move to the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the cupboard 2- Move towards the left side recycle bin 3- Move left 4- Drop the paper cup in the bin 5- done\n\u003c/PRED\u003e","video":"18047189584117899898.mp4"}
+{"uid":"1682582306857110473","text":"\u003ctask:success:discrete:False\u003e\nPick up the paper cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the paper cup from the table 2- exit the room 3- Move forward 4- Move towards the recycle bin 5- Move towards the left side recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the paper cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup 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 paper cup from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup 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 cup from the table\n\u003c/PRED\u003e","video":"7173116757217457422.mp4"}
+{"uid":"14274587345965000459","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go into the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo into 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: Go into the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Go into the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo into 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: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table Q: immediate next step? \u003cPRED\u003eA: Go into the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Go into the room 2- Move towards the recycle bin 3- Move towards the left side recycle bin 4- Move left 5- Drop the paper cup in the bin\n\u003c/PRED\u003e","video":"7180079355908616967.mp4"}
+{"uid":"10249976580482052009","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2084514244874872086.mp4"}
+{"uid":"8257007644306177902","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":"1298313088344509468.mp4"}
+{"uid":"17633781493886862760","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the paper cup 2- Move the paper cup away from the table 3- exit the room 4- Move forward 5- Move towards the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp 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: Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup Q: immediate next step? \u003cPRED\u003eA: Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp 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","video":"14082761952256661847.mp4"}
+{"uid":"3078187055294248954","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the tissue paper into the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the tissue paper into the paper cup 2- Grasp the paper cup 3- Move the paper cup away from the table 4- exit the room 5- Move forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the tissue paper into the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the tissue paper into 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:discriminative:discrete:True\u003e\nDrop the tissue paper into the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Drop the tissue paper into the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup Q: immediate next step? \u003cPRED\u003eA: Drop the tissue paper into the paper cup\n\u003c/PRED\u003e","video":"15934093243109290666.mp4"}
+{"uid":"1376529043789547276","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- Move left Q: immediate next step? \u003cPRED\u003eA: Drop the paper cup into the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the paper cup 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\nDrop the paper cup 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: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Drop the paper cup into the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- Move left Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the paper cup into the bin 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the paper cup into the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the paper cup into the bin\n\u003c/PRED\u003e","video":"9786025887942228044.mp4"}
+{"uid":"2099677310994030783","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":"16126893212627396008.mp4"}
+{"uid":"2557686848427661211","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the compostables\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the compostables Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1882064634816974191.mp4"}
+{"uid":"11213771950770238875","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin Q: immediate next step? \u003cPRED\u003eA: Drop the paper cup in the left compostable bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the paper cup in the left compostable 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 paper cup in the left compostable bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin Q: immediate next step? \u003cPRED\u003eA: put the brown paper cup into the trash can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown paper cup into the trash can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown paper cup into the trash can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the paper cup in the left compostable bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the paper cup in the left compostable bin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Drop the paper cup in the left compostable bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the paper cup in the left compostable 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 brown paper cup into the trash can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: put the brown paper cup into the trash can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown paper cup into the trash can 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown paper cup into the trash can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11308666197225025568.mp4"}
+{"uid":"3760298307911186812","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"12875687117986842611.mp4"}
+{"uid":"11183838742155577056","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the orange ball towards 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":"2896265386454426530.mp4"}
+{"uid":"8458976487486157353","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10515201116196946340.mp4"}
+{"uid":"9422351509801866107","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sticky notes in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9186111520148950679.mp4"}
+{"uid":"13781417340997349554","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go into the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo into 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":"9961871578268599108.mp4"}
+{"uid":"3845038751737834490","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":"11345105524374512313.mp4"}
+{"uid":"5835385422249305061","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the chocolate wrapper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the chocolate wrapper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Move towards the chocolate wrapper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the chocolate wrapper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the chocolate wrapper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the chocolate wrapper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11230491391859044135.mp4"}
+{"uid":"15954763164059586860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop fork into stands Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13242042584117473803.mp4"}
+{"uid":"11597870143435196320","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the tissue paper into the paper cup 2- Grasp the paper cup 3- Move the paper cup away from the table 4- exit the room 5- Move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup Q: immediate next step? \u003cPRED\u003eA: Drop the tissue paper into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the tissue paper into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the tissue paper into the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Drop the tissue paper into the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the tissue paper into the paper cup\n\u003c/PRED\u003e","video":"5714558946943823072.mp4"}
+{"uid":"12763326852666660181","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the left side 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\nGo to the left side 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: Go to the left side bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Go to the left side bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin Q: immediate next step? \u003cPRED\u003eA: Go to the left side bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the left side bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the left side bin 2- Move left 3- Drop the paper cup in the bin 4- done\n\u003c/PRED\u003e","video":"13504221639440853288.mp4"}
+{"uid":"1396482997242059694","text":"\u003ctask:success:discrete:True\u003e\nGrasp the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the paper cup\n\u003c/PRED\u003e","video":"11958008297078352055.mp4"}
+{"uid":"1319879449323211020","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen into the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6159661979125638529.mp4"}
+{"uid":"9076393944292824835","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the sanitizer bottle 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":"17162851918439022109.mp4"}
+{"uid":"6468297817966830876","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the right side bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the right side bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the right side 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\nMove to the right side 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: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room Q: immediate next step? \u003cPRED\u003eA: Move to the right side bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Move to the right side bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the right side bin 2- Move towards the left side recycle bin 3- Move left 4- Drop the paper cup in the bin 5- done\n\u003c/PRED\u003e","video":"11847269614226579376.mp4"}
+{"uid":"8582195103021456768","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":"4565687565489641542.mp4"}
+{"uid":"11529293797282685050","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the paper into the brown paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the paper into the brown paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18440505748648588359.mp4"}
+{"uid":"6936069710695301720","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: pick the paper from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the paper from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper Q: immediate next step? \u003cPRED\u003eA: pick the paper from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper Q: next 5 steps? \u003cPRED\u003eA: 1- pick the paper from the table 2- Grasp the paper cup 3- Move the paper cup away from the table 4- exit the room 5- Move forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the paper from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick 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:affordance:discriminative:discrete:True\u003e\npick 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","video":"5794553858228214437.mp4"}
+{"uid":"5883661986812399750","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Drop the paper cup in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the paper cup in the bin 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the paper cup in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the paper cup in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin Q: immediate next step? \u003cPRED\u003eA: Drop the paper cup in the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the paper cup in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the paper cup in the bin\n\u003c/PRED\u003e","video":"1803174261216844958.mp4"}
+{"uid":"13141373420524666159","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the snacks 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":"12500618527988874463.mp4"}
+{"uid":"2876901727798905065","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the tissue paper from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the tissue paper from the table 2- Grasp the paper cup 3- Move the paper cup away from the table 4- exit the room 5- Move forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the tissue 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:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Lift the tissue paper from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the tissue 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: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup Q: immediate next step? \u003cPRED\u003eA: Lift the tissue paper from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the tissue paper from the table\n\u003c/PRED\u003e","video":"9968185197289059168.mp4"}
+{"uid":"18219106207152929359","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":"10018980679813480727.mp4"}
+{"uid":"16258889663116226564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly close 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":"10471236242755032257.mp4"}
+{"uid":"16877892873301005702","text":"\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: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the room 2- Move forward 3- Move towards the recycle bin 4- Move towards the left side recycle bin 5- Move left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nEnter the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table Q: immediate next step? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e","video":"8886138799925004976.mp4"}
+{"uid":"450422229472779954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white bag 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":"8232418376552287293.mp4"}
+{"uid":"8080739482870911160","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Drop the chocolate wrapper into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the chocolate wrapper into 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the chocolate wrapper into the paper cup 2- Grasp the paper cup 3- Move the paper cup away from the table 4- exit the room 5- Move forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the chocolate wrapper into the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper Q: immediate next step? \u003cPRED\u003eA: Drop the chocolate wrapper into the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the chocolate wrapper into the paper cup\n\u003c/PRED\u003e","video":"766199165720599248.mp4"}
+{"uid":"18073012622370958450","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the left compostable bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin Q: immediate next step? \u003cPRED\u003eA: Move towards the left compostable bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the left side recycle bin 2- Move left 3- Drop the paper cup in the bin 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Move towards the left side recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the left compostable 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: Move towards the left side recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the left compostable 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\nMove towards the left side 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: Move towards the left side recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the left compostable bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: Move towards the left compostable bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin Q: immediate next step? \u003cPRED\u003eA: Move towards the left side recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the left side 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: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the left compostable bin 2- Drop the paper cup in the bin 3- done\n\u003c/PRED\u003e","video":"13088914963897143516.mp4"}
+{"uid":"4071719997425814514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrag 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":"10736079912643661618.mp4"}
+{"uid":"1968783047176343022","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":"17968900787152864181.mp4"}
+{"uid":"11987810264012873032","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- Move left Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: my desk is a mess, please recycle the cup, the napkin and the candy wrapper into the compost bin in the micro kitchen. last 20 steps: 1- Move towards the chocolate wrapper 2- Pick up the chocolate wrapper 3- Drop the chocolate wrapper into the paper cup 4- Place the paper in the paper cup 5- Grasp the paper cup 6- Move the paper cup away from the table 7- exit the room 8- Move forward 9- Move towards the recycle bin 10- Move towards the left side recycle bin 11- Move left Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove 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":"12931984335021940288.mp4"}
+{"uid":"17267823388921459987","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the paper cup away from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the paper cup away 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":"6516549950516195241.mp4"}
+{"uid":"5065275528085634462","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":"13013726060187568693.mp4"}
+{"uid":"13450827757186344881","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":"2671675542160795768.mp4"}
+{"uid":"12899497997148194233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15673100691247501585.mp4"}
+{"uid":"17053369386192506051","text":"\u003ctask:success:discrete:True\u003e\nplace candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candies on the table 5- place candy on the table 6- place candies on the table 7- place candy on the table 8- place candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place candy on the table 2- place candies on the table 3- place candies on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the snack tray Q: immediate next step? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candies on the table 5- place candy on the table 6- place candies on the table 7- place candy on the table 8- place candy on the table Q: immediate next step? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e","video":"15420410770649053013.mp4"}
+{"uid":"4269475975749159396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the white 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":"7971004237368992989.mp4"}
+{"uid":"6734318010076949884","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass 7- put a pista in glass 8- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back 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 a pista in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass 7- put a pista in glass 8- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a pista in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"385290108606584262.mp4"}
+{"uid":"17232069858562560405","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the top left green indoor 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":"9248544236509241930.mp4"}
+{"uid":"16949205403933264495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple 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":"9391663766889415187.mp4"}
+{"uid":"7643396948913756319","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pista 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: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pista in the paper cup 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pista 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table Q: immediate next step? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e","video":"3098655972954908498.mp4"}
+{"uid":"9479162670295152877","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table Q: immediate next step? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pista in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pista in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pista in paper glass 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e","video":"6098825159249504338.mp4"}
+{"uid":"1904902495795192617","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper cup on the upside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper cup on the upside 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the paper cup on the upside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper cup on the upside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the paper cup on the upside\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: place the paper cup on the upside\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the paper cup on the upside\n\u003c/PRED\u003e","video":"9641653369425708870.mp4"}
+{"uid":"1804104632890881067","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista in glass 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass\n\u003c/PRED\u003e","video":"4170601399193166781.mp4"}
+{"uid":"4472273502059596041","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":"14359944161051398047.mp4"}
+{"uid":"3910616732595056181","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candies on the table 5- place candy on the table 6- place candies on the table 7- place candy on the table 8- place candy on the table 9- place candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place candies on the table 2- place candies on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candies on the table 5- place candy on the table 6- place candies on the table 7- place candy on the table 8- place candy on the table 9- place candy on the table Q: immediate next step? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the snack tray Q: immediate next step? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace candies 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":"13420978506697089970.mp4"}
+{"uid":"10753486590606997584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue 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":"10324063226052797982.mp4"}
+{"uid":"2075895772071052946","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14477144220558272246.mp4"}
+{"uid":"9508107704989857733","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper glass upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put paper glass upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put paper glass upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put paper glass upright 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper glass upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper 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\nput paper 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","video":"13765182388312860889.mp4"}
+{"uid":"8199578131235469883","text":"\u003ctask:success:discrete:True\u003e\nput the plastic cover in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic cover in the trash bin\n\u003c/PRED\u003e","video":"2387081146157727618.mp4"}
+{"uid":"1514009112593621221","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pista in 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\nput pista in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put pista in paper glass 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e","video":"17769462177251300211.mp4"}
+{"uid":"18031888214917608525","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the lead 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":"10609809947998542395.mp4"}
+{"uid":"4767556175591515542","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the right indoor plant to the left a bit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13298583582548184703.mp4"}
+{"uid":"6208683143563144253","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put pista in paper glass 2- put a pista in glass 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pista in 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:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e","video":"15708404702050473638.mp4"}
+{"uid":"4727505685735397872","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista in glass 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e","video":"6636553266810710422.mp4"}
+{"uid":"15654457399299746129","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":"12943919871338667728.mp4"}
+{"uid":"4172874503710707570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove close to the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15077007793379931406.mp4"}
+{"uid":"12143216813408321907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"17606972572443324787.mp4"}
+{"uid":"8163069830444203175","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the snack tray Q: immediate next step? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace candies 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 candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candies on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place candy on the table 2- place candies on the table 3- place candy on the table 4- place candy on the table 5- place candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candies on the table Q: immediate next step? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e","video":"3789686057406481174.mp4"}
+{"uid":"145834553802691351","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass 7- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass 7- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista in glass 2- done\n\u003c/PRED\u003e","video":"5933371811311354358.mp4"}
+{"uid":"1074311140184977646","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick it up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17083589656794444352.mp4"}
+{"uid":"13120614717511212951","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup the orange 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":"2706864979081586766.mp4"}
+{"uid":"12785494793477690520","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 2 pink packets 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":"6717266250532062110.mp4"}
+{"uid":"13321256570910302386","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candies on the table 5- place candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place candies on the table 2- place candy on the table 3- place candy on the table 4- place candy on the table 5- place candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the snack tray Q: immediate next step? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 candies on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candies on the table 5- place candy on the table Q: immediate next step? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e","video":"6448124363538553129.mp4"}
+{"uid":"4830946885586719895","text":"\u003ctask:success:discrete:True\u003e\nplace candies 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 candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 candies on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candy on the table 5- place candies on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the snack tray Q: immediate next step? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table Q: immediate next step? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e","video":"2455643155336493333.mp4"}
+{"uid":"17286597049971621613","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the snack tray Q: immediate next step? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candies on the table 5- place candy on the table 6- place candies on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place candy on the table 2- place candy on the table 3- place candy on the table 4- place candies on the table 5- place candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candies on the table 5- place candy on the table 6- place candies on the table Q: immediate next step? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e","video":"15083551844211161170.mp4"}
+{"uid":"14438175340387534381","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":"15703469559011940471.mp4"}
+{"uid":"8485788979952067110","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass 7- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pista in 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:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass 7- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put pista in paper glass 2- done\n\u003c/PRED\u003e","video":"14702887521483236123.mp4"}
+{"uid":"9082468100388946261","text":"\u003ctask:success:discrete:True\u003e\nput the objects in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the objects in the trash bin\n\u003c/PRED\u003e","video":"10041390689250968338.mp4"}
+{"uid":"17524364279312246902","text":"\u003ctask:success:discrete:True\u003e\nplace the pista in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e","video":"17429209484329881853.mp4"}
+{"uid":"9685559652433430994","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pista in 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","video":"11568563758327003575.mp4"}
+{"uid":"14866836161002939980","text":"\u003ctask:success:discrete:False\u003e\nplace the pista 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: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pista 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the pista in the paper cup 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- done\n\u003c/PRED\u003e","video":"1460899789806877314.mp4"}
+{"uid":"1687338734317187384","text":"\u003ctask:success:discrete:True\u003e\nput pista in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass 7- put a pista in glass 8- put pista in paper glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass 7- put a pista in glass 8- put pista in paper glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8937252258889836360.mp4"}
+{"uid":"5200078038067503920","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":"8250242789760922285.mp4"}
+{"uid":"1462513482073335354","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista in glass 2- put a pista in glass 3- done\n\u003c/PRED\u003e","video":"12012718429320809086.mp4"}
+{"uid":"3488538022702677446","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":"17737535084972404452.mp4"}
+{"uid":"6134344046320298580","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the pista in the paper cup 2- put a pista in glass 3- put a pista in glass 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pista 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pista 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: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e","video":"14934810535075206743.mp4"}
+{"uid":"6904510776220371634","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a pista in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15898520014380949917.mp4"}
+{"uid":"9602128718450042152","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green packets in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6293134865152565961.mp4"}
+{"uid":"11332206799844275073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2263228016752560311.mp4"}
+{"uid":"13326122367076268077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"12626403903656785235.mp4"}
+{"uid":"11117571956611183258","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candies on the table 5- place candy on the table 6- place candies on the table 7- place candy on the table 8- place candy on the table 9- place candy on the table 10- place candies on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place candies on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the snack tray Q: immediate next step? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candies on the table 5- place candy on the table 6- place candies on the table 7- place candy on the table 8- place candy on the table 9- place candy on the table 10- place candies on the table Q: immediate next step? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e","video":"16827655130489297468.mp4"}
+{"uid":"15416551768511864444","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pista in 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","video":"13070623922195499367.mp4"}
+{"uid":"11875686472842931302","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table Q: immediate next step? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the snack tray Q: immediate next step? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place candies on the table 2- place candies on the table 3- place candy on the table 4- place candies on the table 5- place candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace candies 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 candies on the table\n\u003c/PRED\u003e","video":"14868057254661927101.mp4"}
+{"uid":"9977182413933239012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRotate the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"903085333023323587.mp4"}
+{"uid":"9086172903286381608","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the trash into the compostables bin . last 20 steps: 1- put the plastic cover in the trash bin Q: immediate next step? \u003cPRED\u003eA: put the objects in the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please throw away the trash into the compostables bin Q: immediate next step? \u003cPRED\u003eA: put the objects in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the objects in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the objects in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the trash into the compostables bin . last 20 steps: 1- put the plastic cover in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the objects in the trash bin 2- put the object in the trash bin 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the objects in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the objects in the trash bin\n\u003c/PRED\u003e","video":"2786629311880124266.mp4"}
+{"uid":"17247237909856978169","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the object in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the trash into the compostables bin . last 20 steps: 1- put the plastic cover in the trash bin 2- put the objects in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the object in the trash bin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the object in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the trash into the compostables bin . last 20 steps: 1- put the plastic cover in the trash bin 2- put the objects in the trash bin Q: immediate next step? \u003cPRED\u003eA: put the object in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the object in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please throw away the trash into the compostables bin Q: immediate next step? \u003cPRED\u003eA: put the object in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the object 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","video":"18119035970033556424.mp4"}
+{"uid":"12346652842736633674","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put paper glass upright\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput paper 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","video":"16567832160585268246.mp4"}
+{"uid":"9898886632214039662","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please throw away the trash into the compostables bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the object in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the trash into the compostables bin . last 20 steps: 1- put the plastic cover in the trash bin 2- put the objects in the trash bin 3- put the object in the trash bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the object in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the trash into the compostables bin . last 20 steps: 1- put the plastic cover in the trash bin 2- put the objects in the trash bin 3- put the object in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17696063629649691903.mp4"}
+{"uid":"7799593959814423035","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the glass straight on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put the glass straight on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glass straight 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: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass straight on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glass straight on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glass straight on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16124641092623496328.mp4"}
+{"uid":"6994339879186877091","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a pista in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2782276745923167239.mp4"}
+{"uid":"10835446777482668807","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":"3810338192946379989.mp4"}
+{"uid":"1111070509859600021","text":"\u003ctask:success:discrete:True\u003e\nput a pista in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e","video":"11840497269527598420.mp4"}
+{"uid":"2936342998786407883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the instant 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":"9873596639673237111.mp4"}
+{"uid":"17599807431037752985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"4376722843901830439.mp4"}
+{"uid":"11995919055177952711","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a pista in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7349788059448155832.mp4"}
+{"uid":"16817380284288959660","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":"15174781600885683196.mp4"}
+{"uid":"12828268861395996948","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pista 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pista in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the pista in the paper cup 2- done\n\u003c/PRED\u003e","video":"2539633593157150119.mp4"}
+{"uid":"5872611343074787434","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1646279426930317001.mp4"}
+{"uid":"1862354446968272582","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":"5829140236843580013.mp4"}
+{"uid":"17780838212379006373","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the pista in the paper cup 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pista 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:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pista 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: place the pista in the paper cup\n\u003c/PRED\u003e","video":"17797196259285765235.mp4"}
+{"uid":"9484963939596385160","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the trash into the compostables bin . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic cover in the trash bin 2- put the objects in the trash bin 3- put the object in the trash bin 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic cover 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 cover in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic cover in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please throw away the trash into the compostables bin Q: immediate next step? \u003cPRED\u003eA: put the plastic cover in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic cover 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the trash into the compostables bin . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the plastic cover in the trash bin\n\u003c/PRED\u003e","video":"2485170095516469575.mp4"}
+{"uid":"12487138016697222221","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put pista in paper glass 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pista in 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e","video":"7825565347109465728.mp4"}
+{"uid":"10101780085810011319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the popcorn 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":"11899792227482034008.mp4"}
+{"uid":"10356107596102357826","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pista 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:success:discrete:False\u003e\nplace the pista 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: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the pista in the paper cup 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass\n\u003c/PRED\u003e","video":"5652562287526541470.mp4"}
+{"uid":"8496223575864442065","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":"6584572732486407934.mp4"}
+{"uid":"12617733611177614603","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put pista in paper glass 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pista in 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","video":"12708566220816024598.mp4"}
+{"uid":"5931603680730245041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chair nearby table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12703842334144089969.mp4"}
+{"uid":"6600553284793030012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1810670558547280698.mp4"}
+{"uid":"16720667189227366983","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the water 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":"4342051544292463053.mp4"}
+{"uid":"522343770510589181","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass 7- put a pista in glass 8- place the pista in the paper cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass 7- put a pista in glass 8- place the pista in the paper cup 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 pista in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pista in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15567571198411845802.mp4"}
+{"uid":"6477726803963218930","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":"9012499659494831541.mp4"}
+{"uid":"792670495157722494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"1496513638272500735.mp4"}
+{"uid":"7009268704936952877","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticker glass in the seuence Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11392881010809613556.mp4"}
+{"uid":"16122856396636683134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet tile in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12885778868274541613.mp4"}
+{"uid":"6047668667544522138","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista in glass 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a pista in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass straight on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the glass straight on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table Q: immediate next step? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10992106656920874379.mp4"}
+{"uid":"8734406703650455965","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candies on the table 5- place candy on the table 6- place candies on the table 7- place candy on the table Q: immediate next step? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candies on the table 5- place candy on the table 6- place candies on the table 7- place candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place candy on the table 2- place candy on the table 3- place candies on the table 4- place candies on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the snack tray Q: immediate next step? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candy on the table\n\u003c/PRED\u003e","video":"10284397312494424747.mp4"}
+{"uid":"18319065229216710092","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table Q: immediate next step? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 candies on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the snack tray Q: immediate next step? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: 1- place candies on the table 2- place candies on the table 3- place candies on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place candies on the table 2- place candy on the table 3- place candies on the table 4- place candy on the table 5- place candy on the table\n\u003c/PRED\u003e","video":"1571931684442141015.mp4"}
+{"uid":"14077534866781945280","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass 7- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the pista in the paper cup 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass 6- put a pista in glass 7- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pista in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pista 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: place the pista in the paper cup\n\u003c/PRED\u003e","video":"2562684442703031595.mp4"}
+{"uid":"10738036082347031128","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pista in 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","video":"8919362739746317425.mp4"}
+{"uid":"16282127483324633659","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista in glass 2- put a pista in glass 3- put a pista in glass 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e","video":"15326389783868894169.mp4"}
+{"uid":"5416534713896797624","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place candies on the table 2- place candies on the table 3- place candies on the table 4- place candies on the table 5- place candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace candies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the candies out of the snack tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the candies out of the snack tray Q: immediate next step? \u003cPRED\u003eA: place candies on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace candies 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":"11437785418438157900.mp4"}
+{"uid":"59000795900280732","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pista in 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","video":"7539944620289921805.mp4"}
+{"uid":"2316229010538342847","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a pista in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7628417479297550970.mp4"}
+{"uid":"2807853517505724910","text":"\u003ctask:success:discrete:False\u003e\nput a pista in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a pista in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put a pista in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put a pista in glass 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- done\n\u003c/PRED\u003e","video":"4455665825098453694.mp4"}
+{"uid":"5199518646126519152","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass Q: immediate next step? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar? Q: immediate next step? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i don't want the pistachios anymore. can you put the pistachios in the cup back into the jar?. last 20 steps: 1- put the glass straight on the table 2- put a pista in glass 3- put a pista in glass 4- put a pista in glass 5- put a pista in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put pista in paper glass 2- put a pista in glass 3- put a pista in glass 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pista in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pista in paper glass\n\u003c/PRED\u003e","video":"1228030793243286933.mp4"}
+{"uid":"13901799140547097368","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table 5- Put the nacho packet on the table 6- Put the pip corn packet on the table 7- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- Put the pip corn packet on the table 3- Put the pip corn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table 5- Put the nacho packet on the table 6- Put the pip corn packet on the table 7- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn 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 pip corn packet on the table\n\u003c/PRED\u003e","video":"15454736160226544030.mp4"}
+{"uid":"2445136271429688542","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table 5- Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the nacho packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e","video":"16814091985516998375.mp4"}
+{"uid":"12305764400889386400","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4714470224837031049.mp4"}
+{"uid":"13980684097235962906","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the black object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object 12- Go towards the table 13- Grab the black box 14- Pick up the black box 15- Release the black box on the floor 16- Move to the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the black object 2- Move away 3- Go to the floor 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Grasp the black object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object 12- Go towards the table 13- Grab the black box 14- Pick up the black box 15- Release the black box on the floor 16- Move to the floor Q: immediate next step? \u003cPRED\u003eA: Grasp the black object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the black object\n\u003c/PRED\u003e","video":"40363158672738529.mp4"}
+{"uid":"4946168349739734029","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":"18066592336436063033.mp4"}
+{"uid":"3997927509774368754","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go towards the black object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go towards the black object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object Q: immediate next step? \u003cPRED\u003eA: Go towards the black object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Go towards the black object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo towards the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo towards the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object Q: next 5 steps? \u003cPRED\u003eA: 1- Go towards the black object 2- Release the black object 3- Go towards the table 4- Grab the black box 5- Pick up the black box\n\u003c/PRED\u003e","video":"15970371550022238810.mp4"}
+{"uid":"17767145143101173330","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":"11275963092127687032.mp4"}
+{"uid":"1309271916737827271","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the table 2- Move towards the cardboard box 3- Release the cable 4- Move towards the black box 5- Move towards the black object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away 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: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm Q: immediate next step? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e","video":"4456562840624523606.mp4"}
+{"uid":"3013337426813917787","text":"\u003ctask:success:discrete:True\u003e\nMove towards the black 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: Move towards the black box\n\u003c/PRED\u003e","video":"6338570359169152825.mp4"}
+{"uid":"5612082326965560342","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the pen from table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11029519377831584859.mp4"}
+{"uid":"1893497680188678373","text":"\u003ctask:success:discrete:True\u003e\nPut the nacho 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 nacho packet on the table\n\u003c/PRED\u003e","video":"15789769048861148367.mp4"}
+{"uid":"475888870318743226","text":"\u003ctask:success:discrete:False\u003e\nGrab the  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: Grab the  cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the  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  cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable Q: immediate next step? \u003cPRED\u003eA: Grab the  cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the  cable 2- lift the arm 3- Move away from the table 4- Move towards the cardboard box 5- Release the cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Grab the  cable\n\u003c/PRED\u003e","video":"11075593894558678885.mp4"}
+{"uid":"10438444024197612291","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":"4570164631549149405.mp4"}
+{"uid":"9340296392723160529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a bar 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":"17106507033070726996.mp4"}
+{"uid":"7208895742237094152","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table Q: immediate next step? \u003cPRED\u003eA: Move towards the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the cardboard box 2- Release the cable 3- Move towards the black box 4- Move towards the black object 5- Pick up the black object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Move towards the cardboard box\n\u003c/PRED\u003e","video":"9684578479515276592.mp4"}
+{"uid":"2608635560801771119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio 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":"4801276902759713064.mp4"}
+{"uid":"11960290407588698669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1117307284547045734.mp4"}
+{"uid":"15562648869436311870","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table 5- Put the nacho packet on the table 6- Put the pip corn packet on the table 7- Put the pip corn packet on the table 8- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table 5- Put the nacho packet on the table 6- Put the pip corn packet on the table 7- Put the pip corn packet on the table 8- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- Put the pip corn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"9394608913112580403.mp4"}
+{"uid":"7192797139378579807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"9421735911809271829.mp4"}
+{"uid":"14210832998433355365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the left snack packet from 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":"16818426809520491793.mp4"}
+{"uid":"4474866467661888131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab another black book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5119510783188870752.mp4"}
+{"uid":"10171661390404694723","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object Q: immediate next step? \u003cPRED\u003eA: Release the black object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object Q: next 5 steps? \u003cPRED\u003eA: 1- Release the black object 2- Go towards the table 3- Grab the black box 4- Pick up the black box 5- Release the black box on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Release the black object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the black object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the black object\n\u003c/PRED\u003e","video":"6452654234888873870.mp4"}
+{"uid":"1878359597328570118","text":"\u003ctask:success:discrete:True\u003e\nPut the nacho 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 nacho packet on the table\n\u003c/PRED\u003e","video":"18245935679446029351.mp4"}
+{"uid":"453384416744264355","text":"\u003ctask:success:discrete:False\u003e\nRelease the 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: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Release the cable 2- Move towards the black box 3- Move towards the black object 4- Pick up the black object 5- Go towards the black object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the 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: Release the cable\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Release the cable\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box Q: immediate next step? \u003cPRED\u003eA: Release the cable\n\u003c/PRED\u003e","video":"10969218942515689224.mp4"}
+{"uid":"7763295541198382636","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the pip corn packet on the table 5- Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho 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 nacho packet on the table\n\u003c/PRED\u003e","video":"7063604397328137667.mp4"}
+{"uid":"11313510248059254847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow 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":"1841203283664712059.mp4"}
+{"uid":"2773184658826424334","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can 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":"7911473356449316566.mp4"}
+{"uid":"14822530253912273203","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table 5- Put the nacho packet on the table 6- Put the pip corn packet on the table 7- Put the pip corn packet on the table 8- Put the pip corn packet on the table 9- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table 5- Put the nacho packet on the table 6- Put the pip corn packet on the table 7- Put the pip corn packet on the table 8- Put the pip corn packet on the table 9- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"1113294827289372720.mp4"}
+{"uid":"14598580801298453344","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Grab the black box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the black box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object 12- Go towards the table Q: immediate next step? \u003cPRED\u003eA: Grab the black box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the black 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: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object 12- Go towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the black box 2- Pick up the black box 3- Release the black box on the floor 4- Move to the floor 5- Grasp the black object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the black box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the black box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1812140651269381502.mp4"}
+{"uid":"4372837203632366628","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object 12- Go towards the table 13- Grab the black box 14- Pick up the black box 15- Release the black box on the floor 16- Move to the floor 17- Grasp the black object 18- Move away Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the floor 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Go to the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object 12- Go towards the table 13- Grab the black box 14- Pick up the black box 15- Release the black box on the floor 16- Move to the floor 17- Grasp the black object 18- Move away Q: immediate next step? \u003cPRED\u003eA: Go to the floor\n\u003c/PRED\u003e","video":"6453071184968352808.mp4"}
+{"uid":"13032074841915948433","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the black box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the black 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":"15154635663604957755.mp4"}
+{"uid":"11453071348177021595","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table 5- Put the pip corn 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 nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho 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 nacho packet on the table\n\u003c/PRED\u003e","video":"4737259196616173714.mp4"}
+{"uid":"15638846959709830614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid on 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":"1404425803246764129.mp4"}
+{"uid":"14670963369716862648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy in the right side tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16389079968127294524.mp4"}
+{"uid":"11707675612472360139","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go towards the black object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo towards the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14505972081579333858.mp4"}
+{"uid":"1850373480405225594","text":"\u003ctask:success:discrete:True\u003e\nGrasp the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the black object\n\u003c/PRED\u003e","video":"10598836580916654460.mp4"}
+{"uid":"8471083760336355428","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen stand 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":"13064404750541310122.mp4"}
+{"uid":"1017321059938998516","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":"3930054850711545277.mp4"}
+{"uid":"14048122993305526557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the glass from the water purifier tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7783607650848354433.mp4"}
+{"uid":"7912916337080952585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"16451108130506723792.mp4"}
+{"uid":"12094653282399036417","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15180513133944881969.mp4"}
+{"uid":"16488632692534200208","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":"4305832172077632982.mp4"}
+{"uid":"8123859551489054357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white duck 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":"12984324322422655229.mp4"}
+{"uid":"7793040572810151639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo 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":"12905753771860008596.mp4"}
+{"uid":"196103775984096239","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho 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 nacho packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- Put the pip corn packet on the table 3- Put the pip corn packet on the table 4- Put the pip corn packet on the table 5- Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"5644526011761628828.mp4"}
+{"uid":"9149367304545555263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the fish from 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":"13909540860894576010.mp4"}
+{"uid":"899490804161341696","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper glass in the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12515709566130930417.mp4"}
+{"uid":"1162288554879414131","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the black object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object Q: immediate next step? \u003cPRED\u003eA: Pick up the black object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the black object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the black object 2- Go towards the black object 3- Release the black object 4- Go towards the table 5- Grab the black box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Pick up the black object\n\u003c/PRED\u003e","video":"9504481708971913229.mp4"}
+{"uid":"3917761606298702577","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9724356456202926298.mp4"}
+{"uid":"16530690630658665163","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":"2897519108175286950.mp4"}
+{"uid":"2709727860257437338","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object 12- Go towards the table 13- Grab the black box 14- Pick up the black box 15- Release the black box on the floor 16- Move to the floor 17- Grasp the black object Q: next 5 steps? \u003cPRED\u003eA: 1- Move away 2- Go to the floor 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object 12- Go towards the table 13- Grab the black box 14- Pick up the black box 15- Release the black box on the floor 16- Move to the floor 17- Grasp the black object Q: immediate next step? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4116956202219415335.mp4"}
+{"uid":"18429187748911452534","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the pip corn packet on the table 4- Put the pip corn packet on the table 5- Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nacho 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 nacho packet on the table\n\u003c/PRED\u003e","video":"3723167862246560603.mp4"}
+{"uid":"16248592685364911877","text":"\u003ctask:success:discrete:False\u003e\nMove towards the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the black object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Move towards the black object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box Q: immediate next step? \u003cPRED\u003eA: Move towards the black object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the black object 2- Pick up the black object 3- Go towards the black object 4- Release the black object 5- Go towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the black object\n\u003c/PRED\u003e","video":"2095724198272342971.mp4"}
+{"uid":"5663215892311390864","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":"9259125294213522360.mp4"}
+{"uid":"13532218716463479694","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object 12- Go towards the table 13- Grab the black box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the black box 2- Release the black box on the floor 3- Move to the floor 4- Grasp the black object 5- Move away\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the black box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the black 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: Pick up the black box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the black 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: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object 12- Go towards the table 13- Grab the black box Q: immediate next step? \u003cPRED\u003eA: Pick up the black box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Pick up the black box\n\u003c/PRED\u003e","video":"8037922395452829474.mp4"}
+{"uid":"1090725028160302019","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to 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":"16681799595474620641.mp4"}
+{"uid":"18214439372215095882","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the black box on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the black box on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object 12- Go towards the table 13- Grab the black box 14- Pick up the black box Q: immediate next step? \u003cPRED\u003eA: Release the black box on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the black box on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object 12- Go towards the table 13- Grab the black box 14- Pick up the black box Q: next 5 steps? \u003cPRED\u003eA: 1- Release the black box on the floor 2- Move to the floor 3- Grasp the black object 4- Move away 5- Go to the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the black box on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Release the black box on the floor\n\u003c/PRED\u003e","video":"7102570999228015314.mp4"}
+{"uid":"8486440301248400011","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table 5- Put the nacho packet on the table 6- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn 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 pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table 5- Put the nacho packet on the table 6- Put the pip corn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- Put the pip corn packet on the table 3- Put the pip corn packet on the table 4- Put the pip corn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn 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":"7105164914873653338.mp4"}
+{"uid":"14405810106485662102","text":"\u003ctask:success:discrete:True\u003e\nPut the pip corn 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 pip corn packet on the table\n\u003c/PRED\u003e","video":"4721684799261334095.mp4"}
+{"uid":"4390038150509872625","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pip corn 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: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table 5- Put the nacho packet on the table 6- Put the pip corn packet on the table 7- Put the pip corn packet on the table 8- Put the pip corn packet on the table 9- Put the pip corn packet on the table 10- Put the pip corn 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: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table 5- Put the nacho packet on the table 6- Put the pip corn packet on the table 7- Put the pip corn packet on the table 8- Put the pip corn packet on the table 9- Put the pip corn packet on the table 10- Put the pip corn packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15373388824654268091.mp4"}
+{"uid":"12824606523974588695","text":"\u003ctask:success:discrete:False\u003e\nMove towards the 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: Move towards the cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the 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: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Move towards the cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the cable\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the cable\n\u003c/PRED\u003e","video":"13322988045406860394.mp4"}
+{"uid":"14697879421360105352","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Go towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object Q: immediate next step? \u003cPRED\u003eA: Go towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object Q: next 5 steps? \u003cPRED\u003eA: 1- Go towards the table 2- Grab the black box 3- Pick up the black box 4- Release the black box on the floor 5- Move to the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1280233214281898350.mp4"}
+{"uid":"14709535302872682931","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object 12- Go towards the table 13- Grab the black box 14- Pick up the black box 15- Release the black box on the floor Q: immediate next step? \u003cPRED\u003eA: Move to the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to 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: Move to the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Move to the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable 7- Move towards the black box 8- Move towards the black object 9- Pick up the black object 10- Go towards the black object 11- Release the black object 12- Go towards the table 13- Grab the black box 14- Pick up the black box 15- Release the black box on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the floor 2- Grasp the black object 3- Move away 4- Go to the floor 5- done\n\u003c/PRED\u003e","video":"4114537611098490335.mp4"}
+{"uid":"15461461555387016646","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pip corn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table 5- Put the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pip corn packet on the table 2- Put the pip corn packet on the table 3- Put the pip corn packet on the table 4- Put the pip corn packet on the table 5- Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- Put the nacho packet on the table 2- Put the nacho packet on the table 3- Put the nacho packet on the table 4- Put the nacho packet on the table 5- Put the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pip corn packet on the table\n\u003c/PRED\u003e","video":"4578116001217233248.mp4"}
+{"uid":"11365075974137771917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"9798940171899046063.mp4"}
+{"uid":"6835696367361747366","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the black 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: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable Q: immediate next step? \u003cPRED\u003eA: Move towards the black box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the black 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: Move towards the black box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable 3- lift the arm 4- Move away from the table 5- Move towards the cardboard box 6- Release the cable Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the black box 2- Move towards the black object 3- Pick up the black object 4- Go towards the black object 5- Release the black object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: Move towards the black box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the black box\n\u003c/PRED\u003e","video":"10517697829945878811.mp4"}
+{"uid":"13559984962226515750","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the holder 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":"5140390085580353681.mp4"}
+{"uid":"4103840466628141350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the apple 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":"6371670913435355563.mp4"}
+{"uid":"15376809193497113842","text":"\u003ctask:success:discrete:True\u003e\nGrab the black 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: Grab the black box\n\u003c/PRED\u003e","video":"14582034937228714464.mp4"}
+{"uid":"5515214654745285243","text":"\u003ctask:success:discrete:True\u003e\nPick up the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the black object\n\u003c/PRED\u003e","video":"13127255768129625721.mp4"}
+{"uid":"13949152679821436629","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable Q: next 5 steps? \u003cPRED\u003eA: 1- lift the arm 2- Move away from the table 3- Move towards the cardboard box 4- Release the cable 5- Move towards the black box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the arm\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift the arm Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin. last 20 steps: 1- Move towards the cable 2- Grab the  cable Q: immediate next step? \u003cPRED\u003eA: lift the arm\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take computer parts from the desk to the recycle bin Q: immediate next step? \u003cPRED\u003eA: lift the arm\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the arm\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift the arm Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"646784214587720361.mp4"}
+{"uid":"17555044958683991783","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the note book in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- put the blue wire in the drawer 2- close the door 3- place the note book corner of the table 4- open the door 5- put the yellow cable in the drawer 6- close the door 7- open the door 8- put the red cable 9- close the door 10- place the remote near the speaker 11- put the small remote near the remote 12- move the trolley backward 13- put the blue pen in the pen stand 14- put the note book corner of the table 15- put the note book on the trolley 16- put the blue pen in the trolley 17- put the note book in the trolley 18- place the trolley backward 19- place the note book corner of the table 20- put the pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- put the blue wire in the drawer 2- close the door 3- place the note book corner of the table 4- open the door 5- put the yellow cable in the drawer 6- close the door 7- open the door 8- put the red cable 9- close the door 10- place the remote near the speaker 11- put the small remote near the remote 12- move the trolley backward 13- put the blue pen in the pen stand 14- put the note book corner of the table 15- put the note book on the trolley 16- put the blue pen in the trolley 17- put the note book in the trolley 18- place the trolley backward 19- place the note book corner of the table 20- put the pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the note book in the trolley 2- put the note book in the trolley 3- put the blue pen in the pen stand 4- put the note book in the trolley 5- put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the note book in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5429498396749365472.mp4"}
+{"uid":"1947935792627148379","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- close the door 2- open the door 3- put the red cable 4- close the door 5- place the remote near the speaker 6- put the small remote near the remote 7- move the trolley backward 8- put the blue pen in the pen stand 9- put the note book corner of the table 10- put the note book on the trolley 11- put the blue pen in the trolley 12- put the note book in the trolley 13- place the trolley backward 14- place the note book corner of the table 15- put the pen in the pen stand 16- put the note book in the trolley 17- put the note book in the trolley 18- put the blue pen in the pen stand 19- put the note book in the trolley 20- put the blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the trolley in the corner of the room 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- close the door 2- open the door 3- put the red cable 4- close the door 5- place the remote near the speaker 6- put the small remote near the remote 7- move the trolley backward 8- put the blue pen in the pen stand 9- put the note book corner of the table 10- put the note book on the trolley 11- put the blue pen in the trolley 12- put the note book in the trolley 13- place the trolley backward 14- place the note book corner of the table 15- put the pen in the pen stand 16- put the note book in the trolley 17- put the note book in the trolley 18- put the blue pen in the pen stand 19- put the note book in the trolley 20- put the blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: place the trolley in the corner of the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the trolley in the corner of the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the trolley in the corner of the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the trolley in the corner of the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: place the trolley in the corner of the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the trolley in the corner of the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17638097614658200500.mp4"}
+{"uid":"1481716002668267481","text":"\u003ctask:success:discrete:True\u003e\nopen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e","video":"9472616074525158955.mp4"}
+{"uid":"18126900726091342558","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white 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":"18002227810250488846.mp4"}
+{"uid":"5795206390139350994","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the trolley backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward 14- put the blue pen in the pen stand 15- put the note book corner of the table 16- put the note book on the trolley 17- put the blue pen in the trolley 18- put the note book in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- place the trolley backward 2- place the note book corner of the table 3- put the pen in the pen stand 4- put the note book in the trolley 5- put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the trolley backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the trolley 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward 14- put the blue pen in the pen stand 15- put the note book corner of the table 16- put the note book on the trolley 17- put the blue pen in the trolley 18- put the note book in the trolley Q: immediate next step? \u003cPRED\u003eA: place the trolley backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: place the trolley backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the trolley 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","video":"2003131628544732386.mp4"}
+{"uid":"2233476869252499785","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17505415050303658235.mp4"}
+{"uid":"14465951751607628837","text":"\u003ctask:success:discrete:True\u003e\nput the note book on the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the note book on the trolley\n\u003c/PRED\u003e","video":"2617007965776717341.mp4"}
+{"uid":"2310148720094070692","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the note book corner 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the note book corner of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward 14- put the blue pen in the pen stand 15- put the note book corner of the table 16- put the note book on the trolley 17- put the blue pen in the trolley 18- put the note book in the trolley 19- place the trolley backward Q: immediate next step? \u003cPRED\u003eA: place the note book corner of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the note book corner 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 note book corner of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward 14- put the blue pen in the pen stand 15- put the note book corner of the table 16- put the note book on the trolley 17- put the blue pen in the trolley 18- put the note book in the trolley 19- place the trolley backward Q: next 5 steps? \u003cPRED\u003eA: 1- place the note book corner of the table 2- put the pen in the pen stand 3- put the note book in the trolley 4- put the note book in the trolley 5- put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: place the note book corner of the table\n\u003c/PRED\u003e","video":"9300808356667607955.mp4"}
+{"uid":"2865123758549278576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15317218935757827632.mp4"}
+{"uid":"13637892779199146947","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue wire in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door Q: immediate next step? \u003cPRED\u003eA: put the blue wire in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue wire in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue wire in the drawer 2- close the door 3- place the note book corner of the table 4- open the door 5- put the yellow cable in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: put the blue wire in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue wire in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue wire in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"735236629283866889.mp4"}
+{"uid":"17544399276959861350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack cup 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":"1631102616731347193.mp4"}
+{"uid":"13237608908197763793","text":"\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e","video":"12695049564727379850.mp4"}
+{"uid":"1416016310439705035","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":"5207484494047132718.mp4"}
+{"uid":"16891861896263789076","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red 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: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: put the red cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red 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: put the red cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door Q: immediate next step? \u003cPRED\u003eA: put the red cable\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- put the red cable 2- close the door 3- place the remote near the speaker 4- put the small remote near the remote 5- move the trolley backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red cable\n\u003c/PRED\u003e","video":"9238888704600996663.mp4"}
+{"uid":"2361170289701826447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7268912899084300837.mp4"}
+{"uid":"6818258506347541752","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward 14- put the blue pen in the pen stand 15- put the note book corner of the table 16- put the note book on the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the trolley 2- put the note book in the trolley 3- place the trolley backward 4- place the note book corner of the table 5- 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 blue pen in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the trolley\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward 14- put the blue pen in the pen stand 15- put the note book corner of the table 16- put the note book on the trolley Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5685520904565233574.mp4"}
+{"uid":"4375278398003713878","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the trolley backward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the trolley backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11626358587976486988.mp4"}
+{"uid":"15204870413557446183","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9888093244966637325.mp4"}
+{"uid":"11855488647795190535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17080033937671699949.mp4"}
+{"uid":"11347674193557634441","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":"6059403187441662818.mp4"}
+{"uid":"4702594858082653410","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red cable\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the red 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:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- place the remote near the speaker 3- put the small remote near the remote 4- move the trolley backward 5- put the blue pen in the pen stand\n\u003c/PRED\u003e","video":"3651283449383624947.mp4"}
+{"uid":"11007453998384965403","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e","video":"6811627127875327427.mp4"}
+{"uid":"690287262542249802","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- put the yellow cable in the drawer 3- close the door 4- open the door 5- put the red cable\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e","video":"11603309900629476569.mp4"}
+{"uid":"14199630451798187267","text":"\u003ctask:success:discrete:False\u003e\nput the note book corner 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward 14- put the blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the note book corner of the table 2- put the note book on the trolley 3- put the blue pen in the trolley 4- put the note book in the trolley 5- place the trolley backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: put the note book corner of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward 14- put the blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the note book corner of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the note book corner of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the note book corner of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the note book corner 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","video":"14245791929815101616.mp4"}
+{"uid":"16328391670929315487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange marker on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7312716943260545050.mp4"}
+{"uid":"13912882989003752953","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen stand 2- put the note book corner of the table 3- put the note book on the trolley 4- put the blue pen in the trolley 5- put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e","video":"14600608280738129337.mp4"}
+{"uid":"724723323129136062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the right hint bottle 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":"4932221023187493596.mp4"}
+{"uid":"10877658738069053553","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow cable in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the yellow cable in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6609910147009178666.mp4"}
+{"uid":"11036861526601421705","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the note book in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18035676984932476523.mp4"}
+{"uid":"5955296754822315079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass on the existing glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16147106845965450991.mp4"}
+{"uid":"1698192691965896322","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- put the yellow cable in the drawer 2- close the door 3- open the door 4- put the red cable 5- close the door 6- place the remote near the speaker 7- put the small remote near the remote 8- move the trolley backward 9- put the blue pen in the pen stand 10- put the note book corner of the table 11- put the note book on the trolley 12- put the blue pen in the trolley 13- put the note book in the trolley 14- place the trolley backward 15- place the note book corner of the table 16- put the pen in the pen stand 17- put the note book in the trolley 18- put the note book in the trolley 19- put the blue pen in the pen stand 20- put the note book in the trolley Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- put the yellow cable in the drawer 2- close the door 3- open the door 4- put the red cable 5- close the door 6- place the remote near the speaker 7- put the small remote near the remote 8- move the trolley backward 9- put the blue pen in the pen stand 10- put the note book corner of the table 11- put the note book on the trolley 12- put the blue pen in the trolley 13- put the note book in the trolley 14- place the trolley backward 15- place the note book corner of the table 16- put the pen in the pen stand 17- put the note book in the trolley 18- put the note book in the trolley 19- put the blue pen in the pen stand 20- put the note book in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen stand 2- place the trolley in the corner of the room 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4405720171230360210.mp4"}
+{"uid":"7538160007116072340","text":"\u003ctask:success:discrete:True\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e","video":"3726585719932094649.mp4"}
+{"uid":"1443919975742613727","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4827409019711136508.mp4"}
+{"uid":"9620282970378282446","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the red cable 3- close the door 4- place the remote near the speaker 5- put the small remote near the remote 6- move the trolley backward 7- put the blue pen in the pen stand 8- put the note book corner of the table 9- put the note book on the trolley 10- put the blue pen in the trolley 11- put the note book in the trolley 12- place the trolley backward 13- place the note book corner of the table 14- put the pen in the pen stand 15- put the note book in the trolley 16- put the note book in the trolley 17- put the blue pen in the pen stand 18- put the note book in the trolley 19- put the blue pen in the pen stand 20- place the trolley in the corner of the room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the trolley in the corner of the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the trolley in the corner of the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the red cable 3- close the door 4- place the remote near the speaker 5- put the small remote near the remote 6- move the trolley backward 7- put the blue pen in the pen stand 8- put the note book corner of the table 9- put the note book on the trolley 10- put the blue pen in the trolley 11- put the note book in the trolley 12- place the trolley backward 13- place the note book corner of the table 14- put the pen in the pen stand 15- put the note book in the trolley 16- put the note book in the trolley 17- put the blue pen in the pen stand 18- put the note book in the trolley 19- put the blue pen in the pen stand 20- place the trolley in the corner of the room Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17175901948149625565.mp4"}
+{"uid":"3785951010857593745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the seaweed snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15896588398315290287.mp4"}
+{"uid":"3034804150980676222","text":"\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":"12379627935207940557.mp4"}
+{"uid":"13942911563291402298","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the note book in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15617650029371232725.mp4"}
+{"uid":"9514950587304257619","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: place the note book corner of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the note book corner of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- place the note book corner of the table 2- open the door 3- put the yellow cable in the drawer 4- close the door 5- open the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the note book corner of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the note book corner 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door Q: immediate next step? \u003cPRED\u003eA: place the note book corner of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the note book corner 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":"3656006047426318569.mp4"}
+{"uid":"10677603353766107300","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16270478478922962882.mp4"}
+{"uid":"9658725736394684629","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the note book in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18273895260692572929.mp4"}
+{"uid":"13281617308051415698","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the note book in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the yellow cable in the drawer 3- close the door 4- open the door 5- put the red cable 6- close the door 7- place the remote near the speaker 8- put the small remote near the remote 9- move the trolley backward 10- put the blue pen in the pen stand 11- put the note book corner of the table 12- put the note book on the trolley 13- put the blue pen in the trolley 14- put the note book in the trolley 15- place the trolley backward 16- place the note book corner of the table 17- put the pen in the pen stand 18- put the note book in the trolley 19- put the note book in the trolley 20- put the blue pen in the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the note book in the trolley 2- put the blue pen in the pen stand 3- place the trolley in the corner of the room 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the yellow cable in the drawer 3- close the door 4- open the door 5- put the red cable 6- close the door 7- place the remote near the speaker 8- put the small remote near the remote 9- move the trolley backward 10- put the blue pen in the pen stand 11- put the note book corner of the table 12- put the note book on the trolley 13- put the blue pen in the trolley 14- put the note book in the trolley 15- place the trolley backward 16- place the note book corner of the table 17- put the pen in the pen stand 18- put the note book in the trolley 19- put the note book in the trolley 20- put the blue pen in the pen stand Q: immediate next step? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the note book in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e","video":"547894243458423797.mp4"}
+{"uid":"8638003340295182571","text":"\u003ctask:success:discrete:False\u003e\nput the yellow cable 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: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door Q: immediate next step? \u003cPRED\u003eA: put the yellow cable in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow cable in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow cable in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow cable in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow cable in the drawer 2- close the door 3- open the door 4- put the red cable 5- close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: put the yellow cable in the drawer\n\u003c/PRED\u003e","video":"17872078664831562595.mp4"}
+{"uid":"12035156538102489041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the brown 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":"16137670045039831303.mp4"}
+{"uid":"13452906545042965940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"6137795468998574153.mp4"}
+{"uid":"2894879971599668255","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":"1762737775305295305.mp4"}
+{"uid":"9012663694871934638","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":"7030813903708837543.mp4"}
+{"uid":"13433600100469910721","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- place the remote near the speaker 2- put the small remote near the remote 3- move the trolley backward 4- put the blue pen in the pen stand 5- put the note book corner of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the remote near the speaker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: place the remote near the speaker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the remote near the speaker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 remote near the speaker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door Q: immediate next step? \u003cPRED\u003eA: place the remote near the speaker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the remote near the speaker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16126801562124217575.mp4"}
+{"uid":"15089587546393945623","text":"\u003ctask:success:discrete:False\u003e\nput the note book on the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward 14- put the blue pen in the pen stand 15- put the note book corner of the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the note book on the trolley 2- put the blue pen in the trolley 3- put the note book in the trolley 4- place the trolley backward 5- place the note book corner of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward 14- put the blue pen in the pen stand 15- put the note book corner of the table Q: immediate next step? \u003cPRED\u003eA: put the note book on the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the note book on the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the note book on the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the note book on the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: put the note book on the trolley\n\u003c/PRED\u003e","video":"1537470622292260093.mp4"}
+{"uid":"18434627122756188569","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:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in 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: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward 14- put the blue pen in the pen stand 15- put the note book corner of the table 16- put the note book on the trolley 17- put the blue pen in the trolley 18- put the note book in the trolley 19- place the trolley backward 20- place the note book corner of the table 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:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward 14- put the blue pen in the pen stand 15- put the note book corner of the table 16- put the note book on the trolley 17- put the blue pen in the trolley 18- put the note book in the trolley 19- place the trolley backward 20- place the note book corner of the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the note book in the trolley 3- put the note book in the trolley 4- put the blue pen in the pen stand 5- put the note book in the trolley\n\u003c/PRED\u003e","video":"613269031184680613.mp4"}
+{"uid":"4200623005435614025","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the trolley backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the trolley backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the trolley 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: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote Q: next 5 steps? \u003cPRED\u003eA: 1- move the trolley backward 2- put the blue pen in the pen stand 3- put the note book corner of the table 4- put the note book on the trolley 5- put the blue pen in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the trolley 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote Q: immediate next step? \u003cPRED\u003eA: move the trolley backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: move the trolley backward\n\u003c/PRED\u003e","video":"3552983359312986304.mp4"}
+{"uid":"18061758073999503083","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- place the note book corner of the table 2- open the door 3- put the yellow cable in the drawer 4- close the door 5- open the door 6- put the red cable 7- close the door 8- place the remote near the speaker 9- put the small remote near the remote 10- move the trolley backward 11- put the blue pen in the pen stand 12- put the note book corner of the table 13- put the note book on the trolley 14- put the blue pen in the trolley 15- put the note book in the trolley 16- place the trolley backward 17- place the note book corner of the table 18- put the pen in the pen stand 19- put the note book in the trolley 20- put the note book in the trolley Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- place the note book corner of the table 2- open the door 3- put the yellow cable in the drawer 4- close the door 5- open the door 6- put the red cable 7- close the door 8- place the remote near the speaker 9- put the small remote near the remote 10- move the trolley backward 11- put the blue pen in the pen stand 12- put the note book corner of the table 13- put the note book on the trolley 14- put the blue pen in the trolley 15- put the note book in the trolley 16- place the trolley backward 17- place the note book corner of the table 18- put the pen in the pen stand 19- put the note book in the trolley 20- put the note book in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue pen in the pen stand 2- put the note book in the trolley 3- put the blue pen in the pen stand 4- place the trolley in the corner of the room 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue pen in the pen stand\n\u003c/PRED\u003e","video":"14661237179734991224.mp4"}
+{"uid":"4577435336694252807","text":"\u003ctask:success:discrete:True\u003e\nput the note book in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e","video":"4420141337111929183.mp4"}
+{"uid":"6556724589251218698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14513999340824118309.mp4"}
+{"uid":"11737754694900378828","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11006672147026598005.mp4"}
+{"uid":"2838379499333577005","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink sachet 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":"12165382176954805938.mp4"}
+{"uid":"3671403924030876009","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":"1869141873961069257.mp4"}
+{"uid":"4705290874785913709","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pebble in 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":"13593920831674673896.mp4"}
+{"uid":"7901585120578931558","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- place the note book corner of the table 3- open the door 4- put the yellow cable in the drawer 5- close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15809012462246171757.mp4"}
+{"uid":"3544569200407377241","text":"\u003ctask:success:discrete:True\u003e\nput the blue pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue pen in the trolley\n\u003c/PRED\u003e","video":"5993549842318704201.mp4"}
+{"uid":"1798520085160237710","text":"\u003ctask:success:discrete:True\u003e\nmove the trolley backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the trolley backward\n\u003c/PRED\u003e","video":"5590776953464305921.mp4"}
+{"uid":"17225071181126076295","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the spoon 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":"16506882820651944566.mp4"}
+{"uid":"18409241110616958232","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- open the door 3- put the red cable 4- close the door 5- place the remote near the speaker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"4814133665123035673.mp4"}
+{"uid":"2633395813549297102","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the small remote near the remote\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: put the small remote near the remote\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the small remote near the remote Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the small remote near the remote\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker Q: next 5 steps? \u003cPRED\u003eA: 1- put the small remote near the remote 2- move the trolley backward 3- put the blue pen in the pen stand 4- put the note book corner of the table 5- put the note book on the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker Q: immediate next step? \u003cPRED\u003eA: put the small remote near the remote\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the small remote near the remote Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2182061087473638131.mp4"}
+{"uid":"9691398356669499851","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pink packets 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":"17579160175757821728.mp4"}
+{"uid":"6043019367069725404","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- put the red cable 3- close the door 4- place the remote near the speaker 5- put the small remote near the remote\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9219764826877108968.mp4"}
+{"uid":"12100905325673978142","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- close the door 2- place the note book corner of the table 3- open the door 4- put the yellow cable in the drawer 5- close the door 6- open the door 7- put the red cable 8- close the door 9- place the remote near the speaker 10- put the small remote near the remote 11- move the trolley backward 12- put the blue pen in the pen stand 13- put the note book corner of the table 14- put the note book on the trolley 15- put the blue pen in the trolley 16- put the note book in the trolley 17- place the trolley backward 18- place the note book corner of the table 19- put the pen in the pen stand 20- put the note book in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- put the note book in the trolley 2- put the blue pen in the pen stand 3- put the note book in the trolley 4- put the blue pen in the pen stand 5- place the trolley in the corner of the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the note book in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the note book in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- close the door 2- place the note book corner of the table 3- open the door 4- put the yellow cable in the drawer 5- close the door 6- open the door 7- put the red cable 8- close the door 9- place the remote near the speaker 10- put the small remote near the remote 11- move the trolley backward 12- put the blue pen in the pen stand 13- put the note book corner of the table 14- put the note book on the trolley 15- put the blue pen in the trolley 16- put the note book in the trolley 17- place the trolley backward 18- place the note book corner of the table 19- put the pen in the pen stand 20- put the note book in the trolley Q: immediate next step? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e","video":"12296497646893962751.mp4"}
+{"uid":"15940746187926366771","text":"\u003ctask:success:discrete:False\u003e\nput the note book in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward 14- put the blue pen in the pen stand 15- put the note book corner of the table 16- put the note book on the trolley 17- put the blue pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- put the note book in the trolley 2- place the trolley backward 3- place the note book corner of the table 4- put the pen in the pen stand 5- put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in Q: immediate next step? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the note book in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting has concluded, help me hide away the charging cables into the table, put the remotes in the center of the table, put the notebooks and pens back into the cart, and push chairs in. last 20 steps: 1- open the door 2- put the blue wire in the drawer 3- close the door 4- place the note book corner of the table 5- open the door 6- put the yellow cable in the drawer 7- close the door 8- open the door 9- put the red cable 10- close the door 11- place the remote near the speaker 12- put the small remote near the remote 13- move the trolley backward 14- put the blue pen in the pen stand 15- put the note book corner of the table 16- put the note book on the trolley 17- put the blue pen in the trolley Q: immediate next step? \u003cPRED\u003eA: put the note book in the trolley\n\u003c/PRED\u003e","video":"10446401852178191627.mp4"}
+{"uid":"9932147971384240157","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":"18038403123749533650.mp4"}
+{"uid":"13987459128694743338","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- place banana in the bowl 3- place apple in the bowl 4- place apple in the bowl 5- place apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"281285375370367462.mp4"}
+{"uid":"4362917563737321960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn the glass upside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2160419063711889838.mp4"}
+{"uid":"6674040448974730524","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":"17381717151883659712.mp4"}
+{"uid":"5950999896927522787","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange in the bowl 2- place fruits in the bowl 3- put orange in the bowl 4- place orange in the bowl 5- place banana in the bowl\n\u003c/PRED\u003e","video":"1645633661464306488.mp4"}
+{"uid":"1383491373358998554","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange in the bowl 2- place banana in the bowl 3- place apple in the bowl 4- place apple in the bowl 5- place apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e","video":"14070166559579406162.mp4"}
+{"uid":"7483042351036149778","text":"\u003ctask:success:discrete:True\u003e\nPlace the water bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the water bottle on the table\n\u003c/PRED\u003e","video":"3601807555050430270.mp4"}
+{"uid":"5261230975112584411","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"5173782208404385781.mp4"}
+{"uid":"3111499695731996597","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- place apple in the bowl 3- place apple in the bowl 4- place apple in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e","video":"16215086979013865008.mp4"}
+{"uid":"7381584069372040278","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- place fruits in the bowl 3- put orange in the bowl 4- place orange in the bowl 5- place banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"6186939843134274729.mp4"}
+{"uid":"13150437334776329846","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10323483792424661414.mp4"}
+{"uid":"2593880906791211873","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl 8- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl 8- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place apple 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 apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18340961166057930050.mp4"}
+{"uid":"5389273891799925479","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop it 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":"3217473983120450516.mp4"}
+{"uid":"15120634474652325537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15478536263575504821.mp4"}
+{"uid":"9783022583224078373","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":"7875969106319217074.mp4"}
+{"uid":"8217129687551201228","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place apple in the bowl 2- place apple in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e","video":"16025594435813236176.mp4"}
+{"uid":"16651666183749894758","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- place orange in the bowl 3- place banana in the bowl 4- place apple in the bowl 5- place apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3298665122237321950.mp4"}
+{"uid":"12984009207862295268","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":"18375211952795816483.mp4"}
+{"uid":"7248720657178362703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red 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":"10161818681355615298.mp4"}
+{"uid":"13954495890955669424","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":"6796002181464633786.mp4"}
+{"uid":"14925795701453567525","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"15181635158270839762.mp4"}
+{"uid":"7344655644010613452","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- place apple in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"16857807994880404950.mp4"}
+{"uid":"10273061661279951360","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e","video":"11996848972649746358.mp4"}
+{"uid":"8334989453705515952","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife 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":"1789063006627367281.mp4"}
+{"uid":"5011823216241062936","text":"\u003ctask:success:discrete:True\u003e\nOpen the refregerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the refregerator\n\u003c/PRED\u003e","video":"3537622579942119924.mp4"}
+{"uid":"16076322059514919779","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4556476335500943267.mp4"}
+{"uid":"8791388977793802026","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- place apple in the bowl 3- place apple in the bowl 4- place apple in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e","video":"13892999077435809000.mp4"}
+{"uid":"6397047136354808001","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"18297340145155358402.mp4"}
+{"uid":"18000296405236206512","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":"11677396627666752054.mp4"}
+{"uid":"12711257332530068354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue 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":"10413615461053909395.mp4"}
+{"uid":"11993748979116029377","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5222833389424171376.mp4"}
+{"uid":"2231507665197097877","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- place apple in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"5959126130298643966.mp4"}
+{"uid":"6934589173012336544","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl 8- place apple in the bowl 9- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl 8- place apple in the bowl 9- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"471340484843972324.mp4"}
+{"uid":"7878866408882513423","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl 8- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl 8- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"1209170206619974372.mp4"}
+{"uid":"5795462683176083532","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fruits in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace fruits in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fruits in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fruits in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place fruits in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place fruits in the bowl 2- put orange in the bowl 3- place orange in the bowl 4- place banana in the bowl 5- place apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: place fruits in the bowl\n\u003c/PRED\u003e","video":"5279418841547871139.mp4"}
+{"uid":"252556519964152278","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":"4432735067074030015.mp4"}
+{"uid":"3113387128887834367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana 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":"10265240355983805319.mp4"}
+{"uid":"5757887117632885791","text":"\u003ctask:success:discrete:True\u003e\nput fruits in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put fruits in the bowl\n\u003c/PRED\u003e","video":"11460174302740676460.mp4"}
+{"uid":"16806486294347922944","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":"5626536094342822110.mp4"}
+{"uid":"12819944876704420892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput bowl on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10370365719398000034.mp4"}
+{"uid":"16359952942334862143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white 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":"154624451421917291.mp4"}
+{"uid":"213942372024841680","text":"\u003ctask:success:discrete:True\u003e\nPlace the water bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the water bottle on the table\n\u003c/PRED\u003e","video":"4484688592684089911.mp4"}
+{"uid":"10490748085172132250","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl 8- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl 8- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"8314470424577446735.mp4"}
+{"uid":"13996936265553630767","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the water bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the water bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please take 2 water bottles to my desk. last 20 steps: 1- Open the refregerator Q: next 5 steps? \u003cPRED\u003eA: 1- Place the water bottle on the table 2- Place the water bottle on the table 3- Close the refregerator 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please take 2 water bottles to my desk. Q: immediate next step? \u003cPRED\u003eA: Place the water bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the water bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the water bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please take 2 water bottles to my desk. last 20 steps: 1- Open the refregerator Q: immediate next step? \u003cPRED\u003eA: Place the water bottle on the table\n\u003c/PRED\u003e","video":"8603396183618197506.mp4"}
+{"uid":"10066179001898510677","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"5003715096908917270.mp4"}
+{"uid":"876723839681949928","text":"\u003ctask:success:discrete:True\u003e\nput banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e","video":"13138902919550920637.mp4"}
+{"uid":"18303155924404119484","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the orange 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":"15743986653109435629.mp4"}
+{"uid":"8043330094149047890","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- place banana in the bowl 3- place apple in the bowl 4- place apple in the bowl 5- place apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"2456713217148925804.mp4"}
+{"uid":"16820493146294904930","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"7240154690462268331.mp4"}
+{"uid":"4577876635986092430","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"10055696225608345746.mp4"}
+{"uid":"6272118912619649324","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":"7779728745060788067.mp4"}
+{"uid":"17059893875031819813","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":"251138392387636403.mp4"}
+{"uid":"11852952737831629599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"9986115065213609372.mp4"}
+{"uid":"15673805199629917349","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange in the bowl 2- place orange in the bowl 3- place banana in the bowl 4- place apple in the bowl 5- place apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"7637501900948136228.mp4"}
+{"uid":"12000136642640758821","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"12321652785469693356.mp4"}
+{"uid":"16479847911613850509","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":"1971566894727180272.mp4"}
+{"uid":"3221135952257799078","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\norganize sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7516611254992517902.mp4"}
+{"uid":"15857940559804088638","text":"\u003ctask:success:discrete:True\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"880990241606650724.mp4"}
+{"uid":"17730373540325028787","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":"17041004421351489936.mp4"}
+{"uid":"6995701537569960793","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl 8- place apple in the bowl 9- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl 7- place apple in the bowl 8- place apple in the bowl 9- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10025580421489030570.mp4"}
+{"uid":"11497369343168830651","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"1988189592640414236.mp4"}
+{"uid":"8661385387475015165","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put brown packet on the table 9- put brown packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. last 20 steps: 1- put brown packet on the table 2- put brown packet on the table 3- put brown packet on the table 4- put brown packet on the table 5- put brown packet on the table 6- put brown packet on the table 7- put brown packet on the table 8- put brown packet on the table 9- put brown packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take the oatmeal packets out of the tray. Q: immediate next step? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e","video":"1081442793610034636.mp4"}
+{"uid":"10392538725869391479","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwash the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10541276834320043334.mp4"}
+{"uid":"10002344574944650299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"1997294634664302728.mp4"}
+{"uid":"4150941101713797309","text":"\u003ctask:success:discrete:True\u003e\nplace banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place banana in the bowl\n\u003c/PRED\u003e","video":"6699482346134922846.mp4"}
+{"uid":"13626503172228788099","text":"\u003ctask:success:discrete:False\u003e\nplace apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e","video":"9378639159286499955.mp4"}
+{"uid":"6456097881910552243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"1063718767452448491.mp4"}
+{"uid":"14454228520194869983","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14969659996283634421.mp4"}
+{"uid":"4475744372790340072","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- put orange in the bowl 3- place orange in the bowl 4- place banana in the bowl 5- place apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3405612090457871713.mp4"}
+{"uid":"1043402417126606965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic fork 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":"6129440615442176048.mp4"}
+{"uid":"3200750659499281435","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15796114428673822497.mp4"}
+{"uid":"7989242378769373221","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place banana in the bowl 2- place apple in the bowl 3- place apple in the bowl 4- place apple in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: place banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place banana in the bowl\n\u003c/PRED\u003e","video":"4544047701900801920.mp4"}
+{"uid":"5791073804673946470","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":"10905126330668453251.mp4"}
+{"uid":"3593048427257906962","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the 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":"16483401824881393134.mp4"}
+{"uid":"17673280617969757257","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput fruits in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put fruits in the bowl 2- put orange in the bowl 3- place orange in the bowl 4- place banana in the bowl 5- place apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fruits in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put fruits in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fruits in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fruits in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put fruits in the bowl\n\u003c/PRED\u003e","video":"14669264896763903564.mp4"}
+{"uid":"11922481538730872801","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissues on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6415874566092733013.mp4"}
+{"uid":"8247244843122835599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16226451240219801187.mp4"}
+{"uid":"12374958573168704582","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- place orange in the bowl 3- place banana in the bowl 4- place apple in the bowl 5- place apple in the bowl\n\u003c/PRED\u003e","video":"2040651154239780862.mp4"}
+{"uid":"2848300622198472996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the light purple duck in the small basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7512967301026586814.mp4"}
+{"uid":"8077893005188277774","text":"\u003ctask:success:discrete:True\u003e\nplace fruits in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place fruits in the bowl\n\u003c/PRED\u003e","video":"4892213103265917851.mp4"}
+{"uid":"1113571950534369222","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16413009678206902340.mp4"}
+{"uid":"16873240249911028779","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- place fruits in the bowl 3- put orange in the bowl 4- place orange in the bowl 5- place banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13022139877644942239.mp4"}
+{"uid":"9228581670858016778","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please take 2 water bottles to my desk. last 20 steps: 1- Open the refregerator 2- Place the water bottle on the table 3- Place the water bottle on the table Q: immediate next step? \u003cPRED\u003eA: Close the refregerator\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the refregerator\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please take 2 water bottles to my desk. Q: immediate next step? \u003cPRED\u003eA: Close the refregerator\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the refregerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 refregerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 refregerator\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please take 2 water bottles to my desk. last 20 steps: 1- Open the refregerator 2- Place the water bottle on the table 3- Place the water bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the refregerator 2- done\n\u003c/PRED\u003e","video":"1805479981402917420.mp4"}
+{"uid":"4006650743920300584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17405306099618336146.mp4"}
+{"uid":"1484167731190136214","text":"\u003ctask:success:discrete:False\u003e\nPlace the water bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the water bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the water bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please take 2 water bottles to my desk. Q: immediate next step? \u003cPRED\u003eA: Place the water bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the water bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please take 2 water bottles to my desk. last 20 steps: 1- Open the refregerator 2- Place the water bottle on the table Q: immediate next step? \u003cPRED\u003eA: Place the water bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please take 2 water bottles to my desk. last 20 steps: 1- Open the refregerator 2- Place the water bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the water bottle on the table 2- Close the refregerator 3- done\n\u003c/PRED\u003e","video":"7068512298064687369.mp4"}
+{"uid":"10474840040896352694","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put brown packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput brown packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"617671855716688398.mp4"}
+{"uid":"3625589069486462745","text":"\u003ctask:success:discrete:True\u003e\nplace apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e","video":"13821657181517229159.mp4"}
+{"uid":"7137730018531780254","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place apple in the bowl 2- place apple in the bowl 3- place apple in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place apple in the bowl 2- place orange in the bowl 3- place fruits in the bowl 4- put orange in the bowl 5- place orange in the bowl 6- place banana in the bowl Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e","video":"14233582460808358520.mp4"}
+{"uid":"17676837743194935530","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":"6353054642540320453.mp4"}
+{"uid":"12071055176637647757","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the popcorn packet 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":"17084108602634496017.mp4"}
+{"uid":"5071819640178392165","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the refregerator\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the refregerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 refregerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please take 2 water bottles to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the refregerator 2- Place the water bottle on the table 3- Place the water bottle on the table 4- Close the refregerator 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please take 2 water bottles to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the refregerator\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the refregerator\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please take 2 water bottles to my desk. Q: immediate next step? \u003cPRED\u003eA: Open the refregerator\n\u003c/PRED\u003e","video":"5994538821441213984.mp4"}
+{"uid":"2675662889509145519","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":"2828719800837001315.mp4"}
+{"uid":"6639212571852354373","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 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 red bull can on the table\n\u003c/PRED\u003e","video":"7749804290537568635.mp4"}
+{"uid":"17680839623494280878","text":"\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: remove cans from the rack 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: none Q: immediate next step? \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","video":"2804583151932757656.mp4"}
+{"uid":"17375083478155328289","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":"8791004824859971038.mp4"}
+{"uid":"14803928745183516366","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":"13614344026911291353.mp4"}
+{"uid":"12043896464368466546","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:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask: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: remove cans from the rack. last 20 steps: 1- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e","video":"4483464256371339600.mp4"}
+{"uid":"17588419900049432889","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":"8152675632459712537.mp4"}
+{"uid":"7957910449373640934","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":"6722803330910535618.mp4"}
+{"uid":"6817369775309403546","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nacho packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18029219313346888442.mp4"}
+{"uid":"12491215353872764928","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e","video":"7418679841669513827.mp4"}
+{"uid":"10186893576413466217","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":"11730317092772290584.mp4"}
+{"uid":"1082718602525621088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sticky note in 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":"8313893191263835922.mp4"}
+{"uid":"10403973499305064398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate packet in the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9647145897354879568.mp4"}
+{"uid":"7038179689877344800","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"18092746737910539302.mp4"}
+{"uid":"18057610593031327876","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place 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:planning:freeform\u003e\ncurrent goal is: remove cans from the rack 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: remove cans from the rack. last 20 steps: 1- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the 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","video":"14303135588622222067.mp4"}
+{"uid":"11540778445732425506","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: remove cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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","video":"13010006769051173586.mp4"}
+{"uid":"9511749725177019782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup 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":"5765748524466946717.mp4"}
+{"uid":"5212042414940390031","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":"3666746824715673874.mp4"}
+{"uid":"7533070184463999404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack lids 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":"14892480996620297752.mp4"}
+{"uid":"475567213609452177","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":"16689684258067638878.mp4"}
+{"uid":"11511512536886324569","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"17496103611505823559.mp4"}
+{"uid":"16086193643609514352","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":"13962500372866597194.mp4"}
+{"uid":"9679245307104893242","text":"\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: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- done\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","video":"18136931091774441425.mp4"}
+{"uid":"9260362404096704152","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pista in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7135791523882166213.mp4"}
+{"uid":"12376828638031688208","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":"3482876165010191102.mp4"}
+{"uid":"1594225433799487749","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- place red bull can on the table 3- place red bull can on the table 4- done\n\u003c/PRED\u003e","video":"10952581041137950895.mp4"}
+{"uid":"16099293532935275313","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- done\n\u003c/PRED\u003e","video":"18243546536132987834.mp4"}
+{"uid":"15931177251082918782","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull 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: remove cans from the rack 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\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: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place red bull can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"4133347306039403129.mp4"}
+{"uid":"3158565313925338156","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":"99360670137173301.mp4"}
+{"uid":"5354314656752975107","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":"11595847951565141798.mp4"}
+{"uid":"3983260269644218670","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- done\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: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:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"932847096760413162.mp4"}
+{"uid":"13649963822321911943","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15887952838471407403.mp4"}
+{"uid":"7118543535925179479","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: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place red bull can on the table 3- place red bull can on the table 4- done\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: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"10325005853011438375.mp4"}
+{"uid":"94229276675664425","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16197582324397069716.mp4"}
+{"uid":"13746318648116918839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut blue box on black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6881391126752914626.mp4"}
+{"uid":"6289567103870270518","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":"9347714687084530298.mp4"}
+{"uid":"18314015210593248024","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- place red bull can on the table 3- place red bull can on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the 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","video":"5625803405075000534.mp4"}
+{"uid":"8862768086762721939","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":"14536105223473757123.mp4"}
+{"uid":"6059676955346987977","text":"\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: remove cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"4332802149648607875.mp4"}
+{"uid":"3425811536318084801","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":"109084708878602646.mp4"}
+{"uid":"12469590260756168128","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- place red bull can on the table 3- done\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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"927583565770003521.mp4"}
+{"uid":"844864120186880313","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"8286411270932151267.mp4"}
+{"uid":"16756869619109326054","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"17362724889697210534.mp4"}
+{"uid":"16981974755692651149","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":"13280895064085262075.mp4"}
+{"uid":"8712328119755940904","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\norganize the sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13526160121583076362.mp4"}
+{"uid":"7165610820263304418","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7863745762781756116.mp4"}
+{"uid":"9076141259799979696","text":"\u003ctask:success:discrete:True\u003e\nplace two pink sugar 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 pink sugar packets in the organizer\n\u003c/PRED\u003e","video":"10631422575567275924.mp4"}
+{"uid":"9177149965295839700","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":"2883907269578362841.mp4"}
+{"uid":"6847698601303896070","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clear all the items from the table Q: immediate next step? \u003cPRED\u003eA: Put the 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 glass in the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the glass in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clear all the items from the table. last 20 steps: 1- Put the fork in the glass 2- Put the candy in the glass 3- place the glass on the table Q: immediate next step? \u003cPRED\u003eA: Put the glass in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clear all the items from the table. last 20 steps: 1- Put the fork in the glass 2- Put the candy in the glass 3- place the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glass in the trash bin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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 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","video":"16370881068391120080.mp4"}
+{"uid":"17166832602528593747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the popcorn packet first left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16553473181788329071.mp4"}
+{"uid":"138037452934805052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate packet in the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16460700129585487335.mp4"}
+{"uid":"2659290988272518020","text":"\u003ctask:success:discrete:True\u003e\norganize the sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e","video":"5504977227165335665.mp4"}
+{"uid":"10897492750833206290","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":"9602107690954809071.mp4"}
+{"uid":"14558280214004450618","text":"\u003ctask:success:discrete:True\u003e\nplace the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e","video":"6680405218958780401.mp4"}
+{"uid":"5837894329180527724","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the stand to left side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12516324968508128154.mp4"}
+{"uid":"784874207625495381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13044496391414766725.mp4"}
+{"uid":"18329354296087691355","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: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 clear all the items from the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the glass 2- Put the candy in the glass 3- place the glass on the table 4- Put the glass in the trash bin 5- done\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clear all the items from the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the fork in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clear all the items from the table 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":"13875931999174933561.mp4"}
+{"uid":"588555416485302971","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place brown sugar packet in the organizer 2- place pink sugar packet in the organizer 3- place pink sugar packet in the organizer 4- place two pink sugar packets in the organizer 5- place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown sugar 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 sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e","video":"830040009060551149.mp4"}
+{"uid":"2691490206604595514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the lid on the cereal dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17152592058410743250.mp4"}
+{"uid":"11775007564997838708","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink sugar packet in the organizer 2- place pink sugar packet in the organizer 3- place two pink sugar packets in the organizer 4- place brown sugar packet in the organizer 5- place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink sugar 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink sugar 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink sugar 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 sugar packet in the organizer\n\u003c/PRED\u003e","video":"10820061668444311999.mp4"}
+{"uid":"566916425437664608","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clear all the items from the table. last 20 steps: 1- Put the fork in the glass 2- Put the candy in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass on the table 2- Put the glass in the trash bin 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clear all the items from the table Q: immediate next step? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clear all the items from the table. last 20 steps: 1- Put the fork in the glass 2- Put the candy in the glass Q: immediate next step? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass on the table\n\u003c/PRED\u003e","video":"5583870717587836964.mp4"}
+{"uid":"4084674096404285130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nfold the hoodie upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7521054252675164563.mp4"}
+{"uid":"17547806169889043636","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown 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":"8294268181300475316.mp4"}
+{"uid":"1054053418201667852","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"4508305907951637913.mp4"}
+{"uid":"15144708883258624430","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green sugar 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 green sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace brown sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place brown sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place brown sugar packet in the organizer 2- place brown sugar packet in the organizer 3- place pink sugar packet in the organizer 4- place pink sugar packet in the organizer 5- place two pink sugar 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 brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown sugar 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 sugar packet in the organizer\n\u003c/PRED\u003e","video":"4252928743969840767.mp4"}
+{"uid":"2034704057853708796","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- organize the sugar packets in the tray 2- place white sugar packet in the organizer 3- place white sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e","video":"13485740320672560523.mp4"}
+{"uid":"18422665013441011277","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\norganize the sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17635019135936992907.mp4"}
+{"uid":"14949011205661060697","text":"\u003ctask:success:discrete:True\u003e\nplace white sugar 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer 9- place brown sugar packet in the organizer 10- place white sugar packet in the organizer 11- place white sugar packet in the organizer 12- place white sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place white sugar 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: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer 9- place brown sugar packet in the organizer 10- place white sugar packet in the organizer 11- place white sugar packet in the organizer 12- place white sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10920884990223544799.mp4"}
+{"uid":"15003444331712442047","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":"17445837874079187488.mp4"}
+{"uid":"8336292402950107024","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 sugar 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 sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place pink sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place pink sugar packet in the organizer 2- place two pink sugar packets in the organizer 3- place brown sugar packet in the organizer 4- place white sugar packet in the organizer 5- place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink sugar 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:success:discrete:True\u003e\nplace pink sugar 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":"17563638725973633141.mp4"}
+{"uid":"2736200579822920828","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place yellow sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the  green packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  green 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: put the  green 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  green 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- place yellow sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the  green packet in the organizer 2- place brown sugar packet in the organizer 3- place brown sugar packet in the organizer 4- place pink sugar packet in the organizer 5- place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  green 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: put the  green packet in the organizer\n\u003c/PRED\u003e","video":"6036874384874273676.mp4"}
+{"uid":"7091185233701965891","text":"\u003ctask:success:discrete:True\u003e\nplace white sugar 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 sugar packet in the organizer\n\u003c/PRED\u003e","video":"7773742544385933132.mp4"}
+{"uid":"16479550987860624098","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the organ\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the organ Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the organ\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the organ\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer Q: immediate next step? \u003cPRED\u003eA: put the packet in the organ\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the organ 2- place white sugar packet in the organizer 3- place white sugar packet in the organizer 4- place white sugar packet in the organizer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the organ Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1307438374525871371.mp4"}
+{"uid":"653499920205847546","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place two pink sugar packets in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace two pink sugar 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 sugar packets in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace two pink sugar 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: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 sugar packets 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place two pink sugar 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: 1- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place two pink sugar packets in the organizer 2- place brown sugar packet in the organizer 3- place white sugar packet in the organizer 4- place white sugar packet in the organizer 5- place white sugar packet in the organizer\n\u003c/PRED\u003e","video":"7704039351586670669.mp4"}
+{"uid":"5327381946594328146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace toy 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":"2265806348145748938.mp4"}
+{"uid":"7714438248434026266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndraw 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":"16226531507020673118.mp4"}
+{"uid":"5537788929421296795","text":"\u003ctask:success:discrete:True\u003e\nput the  green 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  green packet in the organizer\n\u003c/PRED\u003e","video":"14486097274779125828.mp4"}
+{"uid":"1956807022091383183","text":"\u003ctask:success:discrete:True\u003e\nplace pink sugar 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 sugar packet in the organizer\n\u003c/PRED\u003e","video":"14610692748766969831.mp4"}
+{"uid":"18155691345121533525","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7891215927972222170.mp4"}
+{"uid":"9634778564937027604","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- organize the sugar packets in the tray 2- place pink sugar packet in the organizer 3- place pink sugar packet in the organizer 4- place two pink sugar packets in the organizer 5- place brown sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e","video":"10941914866581743908.mp4"}
+{"uid":"8962396074835848052","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green sugar 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":"7158383515473297631.mp4"}
+{"uid":"11570127357138707436","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- close the drawer 3- place the packet on the table 4- done\n\u003c/PRED\u003e","video":"13517266543285142409.mp4"}
+{"uid":"7037672763114757019","text":"\u003ctask:success:discrete:False\u003e\nput the 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer 9- place brown sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the 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 in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer 9- place brown sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the organizer 2- place white sugar packet in the organizer 3- place white sugar 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 in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e","video":"1577265908333313305.mp4"}
+{"uid":"16440351746150027722","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white sugar 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 sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer 9- place brown sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place white sugar packet in the organizer 2- place white sugar packet in the organizer 3- place white sugar packet in the organizer 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace white sugar 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: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 sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer 9- place brown sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e","video":"7304908628952307680.mp4"}
+{"uid":"11798391553544037491","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":"2908839674870899908.mp4"}
+{"uid":"5603437281787157751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the plastic knife along with the plastic fork Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5861974234695338844.mp4"}
+{"uid":"6653891303529352870","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the sugar 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 sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sugar packet in the organizer 2- place pink sugar packet in the organizer 3- place pink sugar packet in the organizer 4- place two pink sugar packets in the organizer 5- place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sugar 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: put the sugar 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 sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sugar 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":"1297936978181546057.mp4"}
+{"uid":"5494498183936622050","text":"\u003ctask:success:discrete:False\u003e\nplace brown sugar 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 brown sugar 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 sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer Q: immediate next step? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace brown sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place brown sugar packet in the organizer 2- place white sugar packet in the organizer 3- place white sugar packet in the organizer 4- place white sugar packet in the organizer 5- done\n\u003c/PRED\u003e","video":"16327576041783117717.mp4"}
+{"uid":"5912307057435964887","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- place the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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","video":"15614384120137246348.mp4"}
+{"uid":"6442870037806342708","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":"15489681952006219620.mp4"}
+{"uid":"10401800889446065356","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bowl on the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9724605252414821807.mp4"}
+{"uid":"3502110725315849209","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sugar 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":"4586799384835413416.mp4"}
+{"uid":"2262457261093043870","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sweet packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sweet 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: put the sweet 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the sweet packet in the organizer 2- place two pink sugar packets in the organizer 3- place brown sugar packet in the organizer 4- place white sugar packet in the organizer 5- place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sweet 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sweet 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the sweet packet in the organizer\n\u003c/PRED\u003e","video":"2984173184354286467.mp4"}
+{"uid":"7109017989608489072","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place green sugar packet in the organizer 2- place brown sugar packet in the organizer 3- place brown sugar packet in the organizer 4- place pink sugar packet in the organizer 5- place pink sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place green sugar 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 green sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green sugar packet in the organizer\n\u003c/PRED\u003e","video":"4872227386316899895.mp4"}
+{"uid":"16040992055619234356","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: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\norganize the sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- organize the sugar packets in the tray 2- place brown sugar packet in the organizer 3- place brown sugar packet in the organizer 4- place pink sugar packet in the organizer 5- place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12828107758368413937.mp4"}
+{"uid":"17855082235933246956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the box of green lemon 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":"5677198223781093947.mp4"}
+{"uid":"15560070192353641978","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwash 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":"658889117342901822.mp4"}
+{"uid":"2726335605931177399","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the packet on the table 3- close the drawer 4- place the packet on the table 5- done\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":"6154693004935823890.mp4"}
+{"uid":"9194700302647250134","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nfix the lid to 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":"9525957865537459641.mp4"}
+{"uid":"957151430733220062","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place white sugar 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 sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer 9- place brown sugar packet in the organizer 10- place white sugar packet in the organizer 11- place white sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place white sugar 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 white sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer 9- place brown sugar packet in the organizer 10- place white sugar packet in the organizer 11- place white sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e","video":"10518260313109240288.mp4"}
+{"uid":"2124414692475593225","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":"13633990637626433412.mp4"}
+{"uid":"9495135659468616473","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":"5830345584807910917.mp4"}
+{"uid":"3364638187881695181","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clear all the items from the table. last 20 steps: 1- Put the fork in the glass 2- Put the candy in the glass 3- place the glass on the table 4- Put the glass in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clear all the items from the table. last 20 steps: 1- Put the fork in the glass 2- Put the candy in the glass 3- place the glass on the table 4- Put the glass in the trash bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the glass in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the 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 clear all the items from the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10647778645639383611.mp4"}
+{"uid":"7215846686714512825","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table. last 20 steps: 1- wipe the table with the tissue Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table. last 20 steps: 1- wipe the table with the tissue Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwipe the table with the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: wipe the table with the tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe the library table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8036159355996109806.mp4"}
+{"uid":"17961953202057908266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15778098150032929061.mp4"}
+{"uid":"14106741198325402760","text":"\u003ctask:success:discrete:True\u003e\nput the 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 in the organizer\n\u003c/PRED\u003e","video":"18031325532766350414.mp4"}
+{"uid":"12406119597212734888","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- place the packet on the table 3- close the drawer 4- place the packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- place the packet on the table 3- close the drawer 4- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1431000061004300621.mp4"}
+{"uid":"1537688988525783614","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- place the packet on the table 3- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- place the packet on the table 3- close the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"9798266533356843532.mp4"}
+{"uid":"11841379426630695207","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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":"17031713009611152523.mp4"}
+{"uid":"1879176101303232634","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2470830356554895734.mp4"}
+{"uid":"14944640986091666131","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":"9656457316690451590.mp4"}
+{"uid":"14256634987388767458","text":"\u003ctask:success:discrete:True\u003e\nput the sweet 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 sweet packet in the organizer\n\u003c/PRED\u003e","video":"16230542119996371581.mp4"}
+{"uid":"2002524072054964982","text":"\u003ctask:success:discrete:True\u003e\nplace white sugar 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 sugar packet in the organizer\n\u003c/PRED\u003e","video":"11155033573265887042.mp4"}
+{"uid":"16513329298555477648","text":"\u003ctask:success:discrete:False\u003e\nput the 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:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer 9- place brown sugar packet in the organizer 10- place white sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the organizer 2- place white sugar packet in the organizer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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: put the 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer 9- place brown sugar packet in the organizer 10- place white sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: put the packet in the organizer\n\u003c/PRED\u003e","video":"9137788892534597892.mp4"}
+{"uid":"1711617914768518130","text":"\u003ctask:success:discrete:True\u003e\nplace brown sugar 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 sugar packet in the organizer\n\u003c/PRED\u003e","video":"15289718781241665167.mp4"}
+{"uid":"5321160398365861175","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nwipe the table with the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe the table with the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: wipe the table with the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe the table with the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the library table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- wipe the table with the tissue 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwipe the table with the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe the library table Q: immediate next step? \u003cPRED\u003eA: wipe the table with the tissue\n\u003c/PRED\u003e","video":"10456832777241654028.mp4"}
+{"uid":"18392216484533976424","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\norganize the sugar packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6558816536194559782.mp4"}
+{"uid":"8699341192533377637","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: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- organize the sugar packets in the tray 2- place two pink sugar packets in the organizer 3- place brown sugar packet in the organizer 4- place white sugar packet in the organizer 5- place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: organize the sugar packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize the sugar packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5897058922867866513.mp4"}
+{"uid":"12770298917230324299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a yellow color toy kept on the table and put it 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":"13077130867791582028.mp4"}
+{"uid":"3449301414177499061","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place brown sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace brown sugar 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":"3665799322873562498.mp4"}
+{"uid":"8356320452453278474","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clear all the items from the table Q: immediate next step? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clear all the items from the table. last 20 steps: 1- Put the fork in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the glass 2- place the glass on the table 3- Put the glass in the trash bin 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy 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 clear all the items from the table. last 20 steps: 1- Put the fork in the glass Q: immediate next step? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy 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":"16121383065746904554.mp4"}
+{"uid":"16069287987481496227","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrestack the cups 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":"14182688096662560844.mp4"}
+{"uid":"3106852200627168505","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray Q: immediate next step? \u003cPRED\u003eA: place green sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green sugar 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- place yellow sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place green sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace yellow sugar 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:affordance:discriminative:discrete:True\u003e\nplace green sugar 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 green sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green sugar 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- place yellow sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place green sugar packet in the organizer 2- place green sugar packet in the organizer 3- place brown sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place pink sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place yellow sugar packet in the organizer\n\u003c/PRED\u003e","video":"6751962722731725635.mp4"}
+{"uid":"532263573658680903","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place sugar packets in the correct sections of the clear plastic tray. last 20 steps: 1- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer 9- place brown sugar packet in the organizer 10- place white sugar packet in the organizer Q: immediate next step? \u003cPRED\u003eA: place white sugar packet in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace white sugar 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 white sugar 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 sugar 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 sugar 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- place yellow sugar packet in the organizer 2- place green sugar packet in the organizer 3- place green sugar packet in the organizer 4- place brown sugar packet in the organizer 5- place brown sugar packet in the organizer 6- place pink sugar packet in the organizer 7- place pink sugar packet in the organizer 8- place two pink sugar packets in the organizer 9- place brown sugar packet in the organizer 10- place white sugar packet in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place white sugar packet in the organizer 2- place white sugar packet in the organizer 3- done\n\u003c/PRED\u003e","video":"5337407784832327257.mp4"}
+{"uid":"13335394374501526324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate crunch into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15774322150253748934.mp4"}
+{"uid":"3219023475656841558","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the chair towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting?. last 20 steps: 1- Move the chair towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the chair towards the table 2- Move the chair towards the table 3- Move the chair towards the table 4- Move the chair towards the table 5- Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting?. last 20 steps: 1- Move the chair towards the table Q: immediate next step? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting? Q: immediate next step? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e","video":"3804142595640364027.mp4"}
+{"uid":"8304144265996039598","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- pick up the can from the tray 3- place that can on the table 4- put the red bull can on the table 5- pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e","video":"6296116878836209831.mp4"}
+{"uid":"18079572204337523611","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":"5662469556320653594.mp4"}
+{"uid":"12258584545857456811","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the redbull 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 redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the redbull can on the table 2- place that can on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the redbull 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":"9997399368450238048.mp4"}
+{"uid":"17155932251168046504","text":"\u003ctask:success:discrete:True\u003e\nplace that 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 that can on the table\n\u003c/PRED\u003e","video":"9553294149059968606.mp4"}
+{"uid":"12083695488058379515","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the redbull can on the table 2- pick up the can from the tray 3- place that can on the table 4- put the red bull can on the table 5- pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the redbull 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 redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the table\n\u003c/PRED\u003e","video":"9912486622130494042.mp4"}
+{"uid":"15498539705185611502","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the tray inside 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":"9995311009873142144.mp4"}
+{"uid":"4309553309295944112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the lid of 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":"16304479804464783936.mp4"}
+{"uid":"13136725810541949101","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":"13784803406659226557.mp4"}
+{"uid":"3452771837719179706","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cell in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11414514186191860019.mp4"}
+{"uid":"10666092287475545749","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray Q: immediate next step? \u003cPRED\u003eA: put 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: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- pick up the can from the tray 3- leave the can on the table 4- pick up the can form the tray 5- place that 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 red bull can on the table\n\u003c/PRED\u003e","video":"2053191414566015039.mp4"}
+{"uid":"17685250437948788556","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table 6- pick up the can from the tray 7- leave the can on the table Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table 6- pick up the can from the tray 7- leave the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"3256558354782875271.mp4"}
+{"uid":"8089034814741755615","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen in a right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10158257041560160968.mp4"}
+{"uid":"1206170828020969675","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the redbull can on the table 2- pick up the can from the tray 3- leave the can on the table 4- pick up the can form the tray 5- place that can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the table\n\u003c/PRED\u003e","video":"14327145488186940970.mp4"}
+{"uid":"9830776005428478046","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 cans from the rack Q: immediate next step? \u003cPRED\u003eA: put 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: put 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: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- place that can on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e","video":"5772463039435071498.mp4"}
+{"uid":"352974765282536884","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting?. last 20 steps: 1- Move the chair towards the table 2- Move the chair towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the chair towards the table 2- Move the chair towards the table 3- Move the chair towards the table 4- Move the chair towards the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the chair towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the chair towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting?. last 20 steps: 1- Move the chair towards the table 2- Move the chair towards the table Q: immediate next step? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting? Q: immediate next step? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e","video":"919503382158486962.mp4"}
+{"uid":"17758209574672678854","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting?. last 20 steps: 1- Move the chair towards the table 2- Move the chair towards the table 3- Move the chair towards the table 4- Move the chair towards the table 5- Move the chair towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the chair towards the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the chair towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting?. last 20 steps: 1- Move the chair towards the table 2- Move the chair towards the table 3- Move the chair towards the table 4- Move the chair towards the table 5- Move the chair towards the table Q: immediate next step? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting? Q: immediate next step? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e","video":"7621602344269398175.mp4"}
+{"uid":"15189103375837227453","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nleave the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table 6- pick up the can from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- leave the can on the table 2- pick up the can form the tray 3- place that can on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: leave the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table 6- pick up the can from the tray Q: immediate next step? \u003cPRED\u003eA: leave the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17037626354521433406.mp4"}
+{"uid":"13643650707315407450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPour the cashews into the top brown 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":"4865442469605234579.mp4"}
+{"uid":"3349495491312023951","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":"1711747759651488987.mp4"}
+{"uid":"3225136525657992786","text":"\u003ctask:success:discrete:True\u003e\nput 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: put the red bull can on the table\n\u003c/PRED\u003e","video":"3081870989688590544.mp4"}
+{"uid":"7094292438890416418","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9789420618021347356.mp4"}
+{"uid":"4100580261474116650","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove the chair towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2764424677448722457.mp4"}
+{"uid":"14776664168348005101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the chewing gum Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5211440166205806816.mp4"}
+{"uid":"1078608947452692925","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"375388230359472762.mp4"}
+{"uid":"414063818016700578","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the can from 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 cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the can from the tray 2- leave the can on the table 3- pick up the can form the tray 4- place that can on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the can from 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: pick up the can from the tray\n\u003c/PRED\u003e","video":"8278253900590209658.mp4"}
+{"uid":"1044056104121052184","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the can from the tray 2- place that can on the table 3- put the red bull can on the table 4- pick up the can from the tray 5- leave the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table Q: immediate next step? \u003cPRED\u003eA: pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the can from 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\npick up the can from 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":"3242310793628349381.mp4"}
+{"uid":"12532322612802047256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4516990608428254602.mp4"}
+{"uid":"2053862331166720896","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bottom 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":"12525672941469758799.mp4"}
+{"uid":"13388710992308740687","text":"\u003ctask:success:discrete:False\u003e\npick up the can form the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: pick up the can form the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table 6- pick up the can from the tray 7- leave the can on the table Q: immediate next step? \u003cPRED\u003eA: pick up the can form the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the can form 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 cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table 6- pick up the can from the tray 7- leave the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the can form the tray 2- place that can 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 can form the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the can form the tray\n\u003c/PRED\u003e","video":"7657385484649896976.mp4"}
+{"uid":"1036893974617764020","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cups inside the tray from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3092839998813079700.mp4"}
+{"uid":"3344220967145405057","text":"\u003ctask:success:discrete:True\u003e\nput 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: put the red bull can on the table\n\u003c/PRED\u003e","video":"3910419870643040737.mp4"}
+{"uid":"11178606132699828257","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the forks in the forks holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16618280539030959060.mp4"}
+{"uid":"4951142572533853058","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":"17707898298181388302.mp4"}
+{"uid":"1057269218373522398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace lemon 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":"7567114671282996154.mp4"}
+{"uid":"3344919727758006377","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table 6- pick up the can from the tray 7- leave the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the redbull 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 redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the redbull 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:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table 6- pick up the can from the tray 7- leave the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the redbull can on the table 2- done\n\u003c/PRED\u003e","video":"6157087573566401376.mp4"}
+{"uid":"7743490662133611505","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the can from 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":"593347103727575183.mp4"}
+{"uid":"15037340174960719885","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":"11172558229270433133.mp4"}
+{"uid":"2235779535661878098","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table Q: immediate next step? \u003cPRED\u003eA: Put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the redbull can on the table 2- put the red bull can on the table 3- pick up the can from the tray 4- leave the can on the table 5- pick up the can form the tray\n\u003c/PRED\u003e","video":"16595760436086437846.mp4"}
+{"uid":"6831324622028468134","text":"\u003ctask:success:discrete:True\u003e\nPut the redbull 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 redbull can on the table\n\u003c/PRED\u003e","video":"7665250510211489280.mp4"}
+{"uid":"15705244434275744854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the coffee cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14187567129305882213.mp4"}
+{"uid":"6642039360344520954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16396926563911060717.mp4"}
+{"uid":"11176374389538504662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17980477174343677806.mp4"}
+{"uid":"16546386653201953331","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11755860472455897046.mp4"}
+{"uid":"12179789092630079750","text":"\u003ctask:success:discrete:False\u003e\nMove the chair towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting?. last 20 steps: 1- Move the chair towards the table 2- Move the chair towards the table 3- Move the chair towards the table 4- Move the chair towards the table Q: immediate next step? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting? Q: immediate next step? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the chair towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting?. last 20 steps: 1- Move the chair towards the table 2- Move the chair towards the table 3- Move the chair towards the table 4- Move the chair towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the chair towards the table 2- Move the chair towards the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e","video":"949543329114900550.mp4"}
+{"uid":"14795549056714175846","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the can from 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\npick up the can from 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 cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table\n\u003c/PRED\u003e","video":"9924427039192236883.mp4"}
+{"uid":"9011040805835830115","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting?. last 20 steps: 1- Move the chair towards the table 2- Move the chair towards the table 3- Move the chair towards the table Q: immediate next step? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting?. last 20 steps: 1- Move the chair towards the table 2- Move the chair towards the table 3- Move the chair towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the chair towards the table 2- Move the chair towards the table 3- Move the chair towards the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the chair towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting? Q: immediate next step? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e","video":"17915390482940871545.mp4"}
+{"uid":"1004609943634790108","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the chair towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move the chair towards the table 2- Move the chair towards the table 3- Move the chair towards the table 4- Move the chair towards the table 5- Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the chair towards the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: The meeting finished in the Mount Rainer meeting room. Can you tuck in all the chairs to prepare it for the next meeting? Q: immediate next step? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the chair towards the table\n\u003c/PRED\u003e","video":"14178693961993677073.mp4"}
+{"uid":"16782693986464946175","text":"\u003ctask:success:discrete:False\u003e\nplace that can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place that can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place that can on the table 2- pick up the can from the tray 3- leave the can on the table 4- pick up the can form the tray 5- place that can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that 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 that can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray Q: immediate next step? \u003cPRED\u003eA: place that can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that can on the table\n\u003c/PRED\u003e","video":"12301172469365190358.mp4"}
+{"uid":"8738069754971714558","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place that can on the table 2- pick up the can from the tray 3- place that can on the table 4- put the red bull can on the table 5- pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that 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 that can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray Q: immediate next step? \u003cPRED\u003eA: place that can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place that can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that 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":"13027909551933785266.mp4"}
+{"uid":"17402648814837357648","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place that can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place that can on the table 2- pick up the can from the tray 3- leave the can on the table 4- pick up the can form the tray 5- place that can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table Q: immediate next step? \u003cPRED\u003eA: place that can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6190391289139453689.mp4"}
+{"uid":"7864721043944369162","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace big sticky notes 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":"15280253089490648246.mp4"}
+{"uid":"14607815490832654028","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":"9090591549139805364.mp4"}
+{"uid":"12175140649114390136","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the red bull can on the table 2- put the red bull can on the table 3- pick up the can from the tray 4- leave the can on the table 5- pick up the can form the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table Q: immediate next step? \u003cPRED\u003eA: put 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: put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put the red bull can on the table\n\u003c/PRED\u003e","video":"2066377616615442746.mp4"}
+{"uid":"4975423618835100352","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8044057288573128331.mp4"}
+{"uid":"2424103403002934999","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table 6- pick up the can from the tray 7- leave the can on the table 8- pick up the can form the tray Q: immediate next step? \u003cPRED\u003eA: place that can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place that can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table 5- put the red bull can on the table 6- pick up the can from the tray 7- leave the can on the table 8- pick up the can form the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place that can on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that 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 that can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that can on the table\n\u003c/PRED\u003e","video":"4821598310027616014.mp4"}
+{"uid":"14971117598686089246","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: pick up the can form the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the can form 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 cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the can form the tray 2- pick up the can from the tray 3- leave the can on the table 4- pick up the can form the tray 5- place that can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the can form the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- pick up the can from the tray 2- place that can on the table 3- pick up the can from the tray 4- place that can on the table Q: immediate next step? \u003cPRED\u003eA: pick up the can form the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the can form the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the can form the tray\n\u003c/PRED\u003e","video":"9723643551840219157.mp4"}
+{"uid":"8785856247686258959","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":"7089844445790357112.mp4"}
+{"uid":"5815175808807854550","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the can from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the can from 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":"348766715080077756.mp4"}
+{"uid":"8328664764194204255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"2785227388955375685.mp4"}
+{"uid":"2643914044588444984","text":"\u003ctask:success:discrete:True\u003e\npiut a orange in the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: piut a orange in the plate\n\u003c/PRED\u003e","video":"2081800923507742960.mp4"}
+{"uid":"12779618686092927624","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in middle cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup 14- put fork in right cup 15- put knife in middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in middle cup 2- put spoon in left cup 3- put fork in right cup 4- put knife in middle cup 5- put knife in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in middle 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 place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in middle cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup 14- put fork in right cup 15- put knife in middle cup Q: immediate next step? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e","video":"15530707017294009385.mp4"}
+{"uid":"13778760732843441864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the trash bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9932525502198092657.mp4"}
+{"uid":"18362468847440762700","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":"14273606719217435618.mp4"}
+{"uid":"1708438589139705267","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup 14- put fork in right cup Q: immediate next step? \u003cPRED\u003eA: put knife in middle cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup 14- put fork in right cup Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in middle cup 2- put knife in middle cup 3- put spoon in left cup 4- put fork in right cup 5- put knife in middle cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in middle cup\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 knife in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in middle 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 knife in middle cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in middle cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11908665101182845983.mp4"}
+{"uid":"16215133182388213271","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13430700115725248956.mp4"}
+{"uid":"10977092339883619702","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the rolling pin in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the orange items back into the drawer from where you got them. last 20 steps: 1- open the drawer 2- place the plate in the drawer Q: immediate next step? \u003cPRED\u003eA: place the rolling pin in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the rolling pin in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the orange items back into the drawer from where you got them Q: immediate next step? \u003cPRED\u003eA: place the rolling pin in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the rolling pin in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the orange items back into the drawer from where you got them. last 20 steps: 1- open the drawer 2- place the plate in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the rolling pin in the drawer 2- place the spatula in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the rolling pin in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11138868862306489203.mp4"}
+{"uid":"8681450130679063016","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a pista in 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":"11875801938736958757.mp4"}
+{"uid":"774941503992637363","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":"1910724989141498466.mp4"}
+{"uid":"6731971687043837999","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":"54264236230449238.mp4"}
+{"uid":"5326510201087399928","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup Q: immediate next step? \u003cPRED\u003eA: put fork in right cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in right cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in right cup 2- put knife in middle cup 3- put knife in middle cup 4- put spoon in left cup 5- put fork in right cup\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 fork in right cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in right cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork in right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7025295055964746771.mp4"}
+{"uid":"13723103700366416937","text":"\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: please place the orange items back into the drawer from where you got them. last 20 steps: 1- open the drawer 2- place the plate in the drawer 3- place the rolling pin in the drawer 4- place the spatula in the drawer 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:planning:freeform\u003e\ncurrent goal is: please place the orange items back into the drawer from where you got them Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the orange items back into the drawer from where you got them. last 20 steps: 1- open the drawer 2- place the plate in the drawer 3- place the rolling pin in the drawer 4- place the spatula in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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":"3367104965166832246.mp4"}
+{"uid":"17490427901127683037","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":"4029350008472576495.mp4"}
+{"uid":"15546084366998956500","text":"\u003ctask:success:discrete:False\u003e\nput forks in right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 forks in right cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put forks in right cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: put forks in right cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put forks in right cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput forks in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7779757195099273800.mp4"}
+{"uid":"6136596536083364601","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":"10524666825676784926.mp4"}
+{"uid":"5280158221560243493","text":"\u003ctask:success:discrete:False\u003e\nplace another orange in the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: place another orange in the plate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate 2- place the pear in the plate 3- piut a orange in the plate Q: immediate next step? \u003cPRED\u003eA: place another orange in the plate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate 2- place the pear in the plate 3- piut a orange in the plate Q: next 5 steps? \u003cPRED\u003eA: 1- place another orange in the plate 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place another orange in the plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace another orange in the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place another orange in the plate\n\u003c/PRED\u003e","video":"4120254410276059333.mp4"}
+{"uid":"10251914158727638152","text":"\u003ctask:success:discrete:True\u003e\nplace the plate in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plate in the drawer\n\u003c/PRED\u003e","video":"111758717669110573.mp4"}
+{"uid":"6053730281158621061","text":"\u003ctask:success:discrete:False\u003e\nplace the spatula in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the orange items back into the drawer from where you got them. last 20 steps: 1- open the drawer 2- place the plate in the drawer 3- place the rolling pin in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the spatula in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spatula in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spatula in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the orange items back into the drawer from where you got them. last 20 steps: 1- open the drawer 2- place the plate in the drawer 3- place the rolling pin in the drawer Q: immediate next step? \u003cPRED\u003eA: place the spatula in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the orange items back into the drawer from where you got them Q: immediate next step? \u003cPRED\u003eA: place the spatula in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spatula in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3581388039757173798.mp4"}
+{"uid":"2914822934755850213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass 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":"2150851861506586859.mp4"}
+{"uid":"11761403921858930466","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: put spoon in left cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in left cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup 14- put fork in right cup 15- put knife in middle cup 16- put knife in middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in left cup 2- put fork in right cup 3- put knife in middle cup 4- put knife in middle cup 5- put knife in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in left cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup 14- put fork in right cup 15- put knife in middle cup 16- put knife in middle cup Q: immediate next step? \u003cPRED\u003eA: put spoon in left cup\n\u003c/PRED\u003e","video":"9578848250605821435.mp4"}
+{"uid":"229527418976746293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"14531996172340021692.mp4"}
+{"uid":"4889857861233440688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14848119257280614466.mp4"}
+{"uid":"9904600918485476266","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put fork in right cup 2- put fork in right cup 3- put knife in middle cup 4- put fork in right cup 5- put knife in right cup 6- put knife in right cup 7- put knife in right cups 8- put fork in left cup 9- put fork in right cup 10- put knife in middle cup 11- put knife in middle cup 12- put spoon in left cup 13- put fork in right cup 14- put knife in middle cup 15- put knife in middle cup 16- put knife in middle cup 17- put knife in middle cup 18- put knifes in middle cup 19- put fork in right 20- put knifes in middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in middle cup 2- put knife in middle cup 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in middle cup\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 knife in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in middle cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put fork in right cup 2- put fork in right cup 3- put knife in middle cup 4- put fork in right cup 5- put knife in right cup 6- put knife in right cup 7- put knife in right cups 8- put fork in left cup 9- put fork in right cup 10- put knife in middle cup 11- put knife in middle cup 12- put spoon in left cup 13- put fork in right cup 14- put knife in middle cup 15- put knife in middle cup 16- put knife in middle cup 17- put knife in middle cup 18- put knifes in middle cup 19- put fork in right 20- put knifes in middle cup Q: immediate next step? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in middle cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9973568386887204057.mp4"}
+{"uid":"1505758430603356067","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":"8294477070667484398.mp4"}
+{"uid":"6265899272886364343","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate 2- place the pear in the plate 3- piut a orange in the plate Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange into the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate 2- place the pear in the plate 3- piut a orange in the plate Q: immediate next step? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16646579206624678424.mp4"}
+{"uid":"10503409762459919678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the orange snack bag 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":"6353921033775804286.mp4"}
+{"uid":"10660090209923704362","text":"\u003ctask:success:discrete:False\u003e\nput fork in left cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups Q: immediate next step? \u003cPRED\u003eA: put fork in left cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in left cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in left cup 2- put fork in right cup 3- put knife in middle cup 4- put knife in middle cup 5- put spoon in left cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in left cup\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 fork in left cup\n\u003c/PRED\u003e","video":"8986691684544324541.mp4"}
+{"uid":"3350742615230384044","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the rolling pin in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the rolling pin in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10685589664758036191.mp4"}
+{"uid":"1143129274890153514","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in middle cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup 14- put fork in right cup 15- put knife in middle cup 16- put knife in middle cup 17- put spoon in left cup 18- put fork in right cup 19- put knife in middle cup 20- put knife in middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in middle cup 2- put knife in middle cup 3- put knifes in middle cup 4- put fork in right 5- put knifes in middle cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in middle cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup 14- put fork in right cup 15- put knife in middle cup 16- put knife in middle cup 17- put spoon in left cup 18- put fork in right cup 19- put knife in middle cup 20- put knife in middle cup Q: immediate next step? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in middle 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":"10884389933979086755.mp4"}
+{"uid":"5940665360287782067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"3355812863204693447.mp4"}
+{"uid":"1171458979891403802","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup 14- put fork in right cup 15- put knife in middle cup 16- put knife in middle cup 17- put spoon in left cup 18- put fork in right cup 19- put knife in middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in middle cup 2- put knife in middle cup 3- put knife in middle cup 4- put knifes in middle cup 5- put fork in right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in middle cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup 14- put fork in right cup 15- put knife in middle cup 16- put knife in middle cup 17- put spoon in left cup 18- put fork in right cup 19- put knife in middle cup Q: immediate next step? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in middle cup\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 knife in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e","video":"11545912786544964533.mp4"}
+{"uid":"17601008323668203099","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in right cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in right cup 2- put knife in right cup 3- put knife in right cup 4- put knife in right cups 5- put fork in left cup\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 fork in right cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork in right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup Q: immediate next step? \u003cPRED\u003eA: put fork in right cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in right cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5099652544591452967.mp4"}
+{"uid":"4508382866503842847","text":"\u003ctask:success:discrete:False\u003e\nput fork in right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in right cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in right cup 2- put fork in right cup 3- put fork in right cup 4- put knife in middle cup 5- put fork in right cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in right cup\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 fork in right cup\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 forks in right cup Q: immediate next step? \u003cPRED\u003eA: put fork in right cup\n\u003c/PRED\u003e","video":"16512721197136721026.mp4"}
+{"uid":"4318045906988687055","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput another object inside 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":"4729566851520354272.mp4"}
+{"uid":"278056355585720337","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10664675632290218303.mp4"}
+{"uid":"18110596547900411184","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":"2499501354839247879.mp4"}
+{"uid":"15023991828895913108","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plate in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plate in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plate in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plate in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the orange items back into the drawer from where you got them. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the plate in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the orange items back into the drawer from where you got them Q: immediate next step? \u003cPRED\u003eA: place the plate in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the orange items back into the drawer from where you got them. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the plate in the drawer 2- place the rolling pin in the drawer 3- place the spatula in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"14361286443991316696.mp4"}
+{"uid":"6224655550235035627","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in right cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup Q: immediate next step? \u003cPRED\u003eA: put knife in right cup\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 knife in right cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in right cup 2- put knife in right cup 3- put knife in right cups 4- put fork in left cup 5- put fork in right cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in right cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16302286919337680384.mp4"}
+{"uid":"11073162046594987758","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":"5891741509860801751.mp4"}
+{"uid":"10615047849329417349","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in right cup\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 fork in right cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in right cup 2- put knife in middle cup 3- put fork in right cup 4- put knife in right cup 5- put knife in right cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork in right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup Q: immediate next step? \u003cPRED\u003eA: put fork in right cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in right cup\n\u003c/PRED\u003e","video":"17355907309075902744.mp4"}
+{"uid":"1408422648129255121","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove out of 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":"8582424701174043151.mp4"}
+{"uid":"2519903290770510536","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":"2368655295384613977.mp4"}
+{"uid":"6319774133796563066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the pen 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":"18135581850955927116.mp4"}
+{"uid":"4097846215999059079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black object 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":"16697217228647773534.mp4"}
+{"uid":"15690037898767254053","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in middle cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put fork in right cup 2- put knife in middle cup 3- put fork in right cup 4- put knife in right cup 5- put knife in right cup 6- put knife in right cups 7- put fork in left cup 8- put fork in right cup 9- put knife in middle cup 10- put knife in middle cup 11- put spoon in left cup 12- put fork in right cup 13- put knife in middle cup 14- put knife in middle cup 15- put knife in middle cup 16- put knife in middle cup 17- put knifes in middle cup 18- put fork in right 19- put knifes in middle cup 20- put knife in middle cup Q: immediate next step? \u003cPRED\u003eA: put knife in middle cup\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 fork in right cup 2- put knife in middle cup 3- put fork in right cup 4- put knife in right cup 5- put knife in right cup 6- put knife in right cups 7- put fork in left cup 8- put fork in right cup 9- put knife in middle cup 10- put knife in middle cup 11- put spoon in left cup 12- put fork in right cup 13- put knife in middle cup 14- put knife in middle cup 15- put knife in middle cup 16- put knife in middle cup 17- put knifes in middle cup 18- put fork in right 19- put knifes in middle cup 20- put knife in middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in middle cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e","video":"1157096013027218762.mp4"}
+{"uid":"510882205807417819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the toffee 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":"2726456418053447775.mp4"}
+{"uid":"10762226044922924047","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the banana into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana into the bowl 2- place the pear in the plate 3- piut a orange in the plate 4- place another orange in the plate 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana into the bowl\n\u003c/PRED\u003e","video":"14793214652155878994.mp4"}
+{"uid":"6986646742722891773","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in right cup 2- put fork in right cup 3- put knife in middle cup 4- put fork in right cup 5- put fork in right cup\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 forks in right cup 2- put fork in right cup Q: immediate next step? \u003cPRED\u003eA: put fork in right cup\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 fork in right cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in right cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in right cup\n\u003c/PRED\u003e","video":"7326318745895335055.mp4"}
+{"uid":"12220274931561135492","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the box tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12713601153649263580.mp4"}
+{"uid":"17885986262689026618","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRemove the right handle of 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":"14655885526636640746.mp4"}
+{"uid":"12477385977599574526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the brown belt into the white carton 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":"11147694686519613672.mp4"}
+{"uid":"8913449313394313748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16442218949624300999.mp4"}
+{"uid":"7069386858355366792","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in right\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 fork in right cup 2- put knife in middle cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put knife in right cup 8- put knife in right cup 9- put knife in right cups 10- put fork in left cup 11- put fork in right cup 12- put knife in middle cup 13- put knife in middle cup 14- put spoon in left cup 15- put fork in right cup 16- put knife in middle cup 17- put knife in middle cup 18- put knife in middle cup 19- put knife in middle cup 20- put knifes in middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in right 2- put knifes in middle cup 3- put knife in middle cup 4- put knife in middle cup 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put fork in right cup 2- put knife in middle cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put knife in right cup 8- put knife in right cup 9- put knife in right cups 10- put fork in left cup 11- put fork in right cup 12- put knife in middle cup 13- put knife in middle cup 14- put spoon in left cup 15- put fork in right cup 16- put knife in middle cup 17- put knife in middle cup 18- put knife in middle cup 19- put knife in middle cup 20- put knifes in middle cup Q: immediate next step? \u003cPRED\u003eA: put fork in right\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 fork in right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork in 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":"95680862026924737.mp4"}
+{"uid":"10119422096368272321","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pear in the plate\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pear in the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8821042983913530640.mp4"}
+{"uid":"7360915158461485179","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in right cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in right cups\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in right cups 2- put fork in left cup 3- put fork in right cup 4- put knife in middle cup 5- put knife in middle cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup Q: immediate next step? \u003cPRED\u003eA: put knife in right cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in right cups\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 knife in right cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in right cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14781803584596926701.mp4"}
+{"uid":"16219242238972199441","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in right cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in right cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in right cup 2- put knife in middle cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup\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 fork in right cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup Q: immediate next step? \u003cPRED\u003eA: put fork in right cup\n\u003c/PRED\u003e","video":"8056985472123135158.mp4"}
+{"uid":"1603688989534590251","text":"\u003ctask:success:discrete:True\u003e\nplace the spatula in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spatula in the drawer\n\u003c/PRED\u003e","video":"8391845714217525242.mp4"}
+{"uid":"17755637869688127373","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in middle cup\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 knife in middle cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup 14- put fork in right cup 15- put knife in middle cup 16- put knife in middle cup 17- put spoon in left cup 18- put fork in right cup Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in middle cup 2- put knife in middle cup 3- put knife in middle cup 4- put knife in middle cup 5- put knifes in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in middle cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup 14- put fork in right cup 15- put knife in middle cup 16- put knife in middle cup 17- put spoon in left cup 18- put fork in right cup Q: immediate next step? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in middle cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10930971360020675273.mp4"}
+{"uid":"11829832383220449898","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knifes in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knifes in middle cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put fork in right cup 2- put fork in right cup 3- put knife in middle cup 4- put fork in right cup 5- put fork in right cup 6- put knife in middle cup 7- put fork in right cup 8- put knife in right cup 9- put knife in right cup 10- put knife in right cups 11- put fork in left cup 12- put fork in right cup 13- put knife in middle cup 14- put knife in middle cup 15- put spoon in left cup 16- put fork in right cup 17- put knife in middle cup 18- put knife in middle cup 19- put knife in middle cup 20- put knife in middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- put knifes in middle cup 2- put fork in right 3- put knifes in middle cup 4- put knife in middle cup 5- put knife in middle cup\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 fork in right cup 2- put fork in right cup 3- put knife in middle cup 4- put fork in right cup 5- put fork in right cup 6- put knife in middle cup 7- put fork in right cup 8- put knife in right cup 9- put knife in right cup 10- put knife in right cups 11- put fork in left cup 12- put fork in right cup 13- put knife in middle cup 14- put knife in middle cup 15- put spoon in left cup 16- put fork in right cup 17- put knife in middle cup 18- put knife in middle cup 19- put knife in middle cup 20- put knife in middle cup Q: immediate next step? \u003cPRED\u003eA: put knifes in middle cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knifes in middle cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knifes in middle 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 place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: put knifes in middle cup\n\u003c/PRED\u003e","video":"7270569207543423138.mp4"}
+{"uid":"12372168951919620639","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in right cup 2- put fork in right cup 3- put knife in middle cup 4- put fork in right cup 5- put knife in right cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in right cup\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 fork in right cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup Q: immediate next step? \u003cPRED\u003eA: put fork in right cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork in right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in right cup\n\u003c/PRED\u003e","video":"2003969773952426949.mp4"}
+{"uid":"647277378698317725","text":"\u003ctask:success:discrete:True\u003e\nplace the banana in the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 banana in the plate\n\u003c/PRED\u003e","video":"16261446721094951781.mp4"}
+{"uid":"12464173258839250305","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in middle cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in middle cup 2- put fork in right cup 3- put fork in right cup 4- put knife in middle cup 5- put fork in right cup\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 knife in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in middle 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 knife in middle 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 knife in middle cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup Q: immediate next step? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e","video":"5378322437494096243.mp4"}
+{"uid":"11864663065212083959","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":"1467692521129574393.mp4"}
+{"uid":"6412075216072749429","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"5564389043900185179.mp4"}
+{"uid":"17642754685490927037","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: Place orange into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate 2- place the pear in the plate 3- piut a orange in the plate Q: next 5 steps? \u003cPRED\u003eA: 1- Place orange into the bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place orange into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate 2- place the pear in the plate 3- piut a orange in the plate Q: immediate next step? \u003cPRED\u003eA: Place orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place orange into the bowl\n\u003c/PRED\u003e","video":"1967367978740094316.mp4"}
+{"uid":"12367463902517175542","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate 2- place the pear in the plate Q: next 5 steps? \u003cPRED\u003eA: 1- piut a orange in the plate 2- place another orange in the plate 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: piut a orange in the plate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate 2- place the pear in the plate Q: immediate next step? \u003cPRED\u003eA: piut a orange in the plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npiut a orange in the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: piut a orange in the plate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: piut a orange in the plate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npiut a orange in the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13894057288327266774.mp4"}
+{"uid":"10390404839685330585","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the orange items back into the drawer from where you got them. last 20 steps: 1- open the drawer 2- place the plate in the drawer 3- place the rolling pin in the drawer 4- place the spatula in the drawer 5- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the orange items back into the drawer from where you got them. last 20 steps: 1- open the drawer 2- place the plate in the drawer 3- place the rolling pin in the drawer 4- place the spatula in the drawer 5- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the orange items back into the drawer from where you got them Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8566139110524886267.mp4"}
+{"uid":"5457849289619236683","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear in the plate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pear in the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate Q: immediate next step? \u003cPRED\u003eA: place the pear in the plate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the plate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the plate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the plate 2- piut a orange in the plate 3- place another orange in the plate 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12061228143406630389.mp4"}
+{"uid":"15291624835225808184","text":"\u003ctask:success:discrete:True\u003e\nplace another orange in the plate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate 2- place the pear in the plate 3- piut a orange in the plate 4- place another orange in the plate Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place another orange in the plate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate 2- place the pear in the plate 3- piut a orange in the plate 4- place another orange in the plate Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1008781780681707458.mp4"}
+{"uid":"11076906585966977871","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear into the bowl 2- piut a orange in the plate 3- place another orange in the plate 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pear into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate Q: immediate next step? \u003cPRED\u003eA: place the pear into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8817551900577657957.mp4"}
+{"uid":"4961371207229777480","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":"3122149342669518012.mp4"}
+{"uid":"18021921292807646257","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic forks in 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":"2583025809703436923.mp4"}
+{"uid":"13824751944875875227","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate 2- place the pear in the plate Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- place another orange in the plate 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate 2- place the pear in the plate Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: please put fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e","video":"3929950225707628791.mp4"}
+{"uid":"7090899955649384717","text":"\u003ctask:success:discrete:False\u003e\nput fork in right cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in right cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup 14- put fork in right cup 15- put knife in middle cup 16- put knife in middle cup 17- put spoon in left cup Q: immediate next step? \u003cPRED\u003eA: put fork in right cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in right cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup 11- put knife in right cup 12- put knife in right cups 13- put fork in left cup 14- put fork in right cup 15- put knife in middle cup 16- put knife in middle cup 17- put spoon in left cup Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in right cup 2- put knife in middle cup 3- put knife in middle cup 4- put knife in middle cup 5- put knife in middle cup\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 fork in right cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14884624855097412287.mp4"}
+{"uid":"576869568194961833","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":"12757104647530475516.mp4"}
+{"uid":"10028514346700775985","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: put knife in right cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in right cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in right cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup Q: immediate next step? \u003cPRED\u003eA: put knife in right cup\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 forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup 8- put knife in middle cup 9- put fork in right cup 10- put knife in right cup Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in right cup 2- put knife in right cups 3- put fork in left cup 4- put fork in right cup 5- put knife in middle cup\n\u003c/PRED\u003e","video":"17380381010626968673.mp4"}
+{"uid":"976124879122955280","text":"\u003ctask:success:discrete:True\u003e\nplace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"16526097605211531093.mp4"}
+{"uid":"12861115595296895074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4789645094148229953.mp4"}
+{"uid":"1714681559038652776","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop yellow highlighter 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":"17916704625262436989.mp4"}
+{"uid":"13810486191903161223","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn 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":"5451589955619478216.mp4"}
+{"uid":"2891941278865721167","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in middle cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put fork in right cup 2- put fork in right cup 3- put fork in right cup 4- put knife in middle cup 5- put fork in right cup 6- put fork in right cup 7- put knife in middle cup 8- put fork in right cup 9- put knife in right cup 10- put knife in right cup 11- put knife in right cups 12- put fork in left cup 13- put fork in right cup 14- put knife in middle cup 15- put knife in middle cup 16- put spoon in left cup 17- put fork in right cup 18- put knife in middle cup 19- put knife in middle cup 20- put knife in middle cup Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in middle cup 2- put knifes in middle cup 3- put fork in right 4- put knifes in middle cup 5- put knife in middle cup\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 fork in right cup 2- put fork in right cup 3- put fork in right cup 4- put knife in middle cup 5- put fork in right cup 6- put fork in right cup 7- put knife in middle cup 8- put fork in right cup 9- put knife in right cup 10- put knife in right cup 11- put knife in right cups 12- put fork in left cup 13- put fork in right cup 14- put knife in middle cup 15- put knife in middle cup 16- put spoon in left cup 17- put fork in right cup 18- put knife in middle cup 19- put knife in middle cup 20- put knife in middle cup Q: immediate next step? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e","video":"7502175413405228708.mp4"}
+{"uid":"4614559561607843526","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":"721106843701511298.mp4"}
+{"uid":"12981372408991780946","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put knife in middle cup 2- put fork in right cup 3- put fork in right cup 4- put knife in middle cup 5- put fork in right cup 6- put knife in right cup 7- put knife in right cup 8- put knife in right cups 9- put fork in left cup 10- put fork in right cup 11- put knife in middle cup 12- put knife in middle cup 13- put spoon in left cup 14- put fork in right cup 15- put knife in middle cup 16- put knife in middle cup 17- put knife in middle cup 18- put knife in middle cup 19- put knifes in middle cup 20- put fork in right Q: next 5 steps? \u003cPRED\u003eA: 1- put knifes in middle cup 2- put knife in middle cup 3- put knife in middle cup 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knifes in middle 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 knifes in middle 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 knifes in middle cup\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 knifes in middle cup\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 knife in middle cup 2- put fork in right cup 3- put fork in right cup 4- put knife in middle cup 5- put fork in right cup 6- put knife in right cup 7- put knife in right cup 8- put knife in right cups 9- put fork in left cup 10- put fork in right cup 11- put knife in middle cup 12- put knife in middle cup 13- put spoon in left cup 14- put fork in right cup 15- put knife in middle cup 16- put knife in middle cup 17- put knife in middle cup 18- put knife in middle cup 19- put knifes in middle cup 20- put fork in right Q: immediate next step? \u003cPRED\u003eA: put knifes in middle cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knifes in middle cup\n\u003c/PRED\u003e","video":"1017405345357427595.mp4"}
+{"uid":"2054153991868511157","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate 2- place the pear in the plate Q: immediate next step? \u003cPRED\u003eA: Place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: 1- place the banana in the plate 2- place the pear in the plate Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange into the bowl 2- place another orange in the plate 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange into the bowl\n\u003c/PRED\u003e","video":"4220645927263351505.mp4"}
+{"uid":"3189766293837137481","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":"1405293555224667713.mp4"}
+{"uid":"15434760218448130986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"12894439616714549584.mp4"}
+{"uid":"10857318459110256932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"3694370282225671323.mp4"}
+{"uid":"6578429673379446768","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. Q: immediate next step? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput knife in middle cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup Q: immediate next step? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput knife in middle cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the utensils into the cup. last 20 steps: 1- put forks in right cup 2- put fork in right cup 3- put fork in right cup 4- put fork in right cup 5- put knife in middle cup 6- put fork in right cup 7- put fork in right cup Q: next 5 steps? \u003cPRED\u003eA: 1- put knife in middle cup 2- put fork in right cup 3- put knife in right cup 4- put knife in right cup 5- put knife in right cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put knife in middle cup\n\u003c/PRED\u003e","video":"10222489783917430804.mp4"}
+{"uid":"7788469488694182489","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue 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":"7448151698713705411.mp4"}
+{"uid":"15053045252138845466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"15453687396097951346.mp4"}
+{"uid":"9163522042540821061","text":"\u003ctask:success:discrete:True\u003e\nplace the banana into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana into the bowl\n\u003c/PRED\u003e","video":"15763447728939853548.mp4"}
+{"uid":"3748935946023722886","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put fruits in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- place the pear in the plate 3- piut a orange in the plate 4- place another orange in the plate 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:affordance:discriminative:discrete:True\u003e\nplace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put fruits in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"1559597419535432.mp4"}
+{"uid":"4356468899315683423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the scooper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11504097264091145323.mp4"}
+{"uid":"6522577209533195308","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":"13085601680929689440.mp4"}
+{"uid":"10106049879657607731","text":"\u003ctask:success:discrete:True\u003e\nclean the monitor screen with the white paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the monitor screen with the white paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: 1- pick up the tissue from the table 2- clean the monitor screen with the white paper Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: 1- pick up the tissue from the table 2- clean the monitor screen with the white paper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13185481232276085641.mp4"}
+{"uid":"4813036926748816242","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the desktop\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: 1- pick up the tissue from the table Q: next 5 steps? \u003cPRED\u003eA: 1- clean the desktop 2- Drop the tissue on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: 1- pick up the tissue from the table Q: immediate next step? \u003cPRED\u003eA: clean the desktop\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the desktop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the desktop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the desktop\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk Q: immediate next step? \u003cPRED\u003eA: clean the desktop\n\u003c/PRED\u003e","video":"356106664687326269.mp4"}
+{"uid":"18408229820296748883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag 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":"2270394433879835522.mp4"}
+{"uid":"11008586756779299234","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the tissue paper 2- clean the desktop 3- Drop the tissue on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to 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:success:discrete:False\u003e\nMove to 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: please clean my monitor with the alcohol wipe on my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move to the tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the tissue paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk Q: immediate next step? \u003cPRED\u003eA: Move to the tissue paper\n\u003c/PRED\u003e","video":"16391943921334655404.mp4"}
+{"uid":"16186578881251385744","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the white paper from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the white 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:success:discrete:False\u003e\npick the white 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the white paper from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the white paper from the table 2- Drop the tissue on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk Q: immediate next step? \u003cPRED\u003eA: pick the white paper from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the white paper from the table\n\u003c/PRED\u003e","video":"8997921468067459525.mp4"}
+{"uid":"8346753294344119118","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":"16606452309510760836.mp4"}
+{"uid":"15433693084126683464","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14385178001653261904.mp4"}
+{"uid":"17989699548711722545","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":"4506283192047130673.mp4"}
+{"uid":"15660815941626368776","text":"\u003ctask:success:discrete:False\u003e\npick up the tissue from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the tissue 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 tissue 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 tissue from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tissue from the table 2- clean the desktop 3- Drop the tissue on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk Q: immediate next step? \u003cPRED\u003eA: pick up the tissue from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the tissue from the table\n\u003c/PRED\u003e","video":"13487508996744713233.mp4"}
+{"uid":"10746361213533888431","text":"\u003ctask:success:discrete:True\u003e\nclean the desktop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 desktop\n\u003c/PRED\u003e","video":"2371230994751561882.mp4"}
+{"uid":"5784900076363200488","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: 1- pick up the tissue from the table 2- clean the desktop 3- Drop the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: 1- pick up the tissue from the table 2- clean the desktop 3- Drop the tissue on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16226341474594200412.mp4"}
+{"uid":"1200578491079404679","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the tissue on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: 1- pick up the tissue from the table 2- clean the desktop Q: immediate next step? \u003cPRED\u003eA: Drop the tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk Q: immediate next step? \u003cPRED\u003eA: Drop the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: 1- pick up the tissue from the table 2- clean the desktop Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the tissue on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3707929263485712015.mp4"}
+{"uid":"17488593547822375355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"6477257148424033468.mp4"}
+{"uid":"11176956448149490185","text":"\u003ctask:success:discrete:True\u003e\npick up the tissue 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 tissue from the table\n\u003c/PRED\u003e","video":"14984341868910483120.mp4"}
+{"uid":"17197107514830789034","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop 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:planning:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk Q: immediate next step? \u003cPRED\u003eA: Drop the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: 1- pick up the tissue from the table 2- clean the desktop Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the tissue paper on the table 2- 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 the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop 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: Drop the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: 1- pick up the tissue from the table 2- clean the desktop Q: immediate next step? \u003cPRED\u003eA: Drop the tissue paper on the table\n\u003c/PRED\u003e","video":"17960857713601492178.mp4"}
+{"uid":"16880855389493632481","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the alphabet tile Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9902364353766536677.mp4"}
+{"uid":"7531309586610783272","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: 1- pick up the tissue from the table 2- clean the desktop Q: next 5 steps? \u003cPRED\u003eA: 1- drop the white paper on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: 1- pick up the tissue from the table 2- clean the desktop Q: immediate next step? \u003cPRED\u003eA: drop the white paper on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the white paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the white 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: please clean my monitor with the alcohol wipe on my desk Q: immediate next step? \u003cPRED\u003eA: drop the white paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the white 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: drop the white paper on the table\n\u003c/PRED\u003e","video":"4848240058525787830.mp4"}
+{"uid":"7633286830971523633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bottom paper clip 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":"14930744984986144195.mp4"}
+{"uid":"12080322320105470617","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the tissue paper 2- Drop the tissue on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the cardboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the tissue paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the tissue paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"531562366596919526.mp4"}
+{"uid":"15585275457578725943","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk Q: immediate next step? \u003cPRED\u003eA: clean the monitor screen with the white paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the monitor screen with the white paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the monitor screen with the white 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\nclean the monitor screen with the white paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: 1- pick up the tissue from the table Q: next 5 steps? \u003cPRED\u003eA: 1- clean the monitor screen with the white paper 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the monitor screen with the white paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please clean my monitor with the alcohol wipe on my desk. last 20 steps: 1- pick up the tissue from the table Q: immediate next step? \u003cPRED\u003eA: clean the monitor screen with the white paper\n\u003c/PRED\u003e","video":"17449151730865592618.mp4"}
+{"uid":"2690415612269394567","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabetic tile in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17690290907586085510.mp4"}