diff --git "a/json/train/data-00019-of-00160.json" "b/json/train/data-00019-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00019-of-00160.json"
@@ -0,0 +1,2823 @@
+{"uid":"9685484459165640064","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packets 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packets in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packets in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packets in the drawer\n\u003c/PRED\u003e","video":"4312025404280798651.mp4"}
+{"uid":"286627833710456695","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":"12580549657244298694.mp4"}
+{"uid":"8046043183657503107","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the tray backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: Move the tray backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the tray 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move the tray backward 2- Put the packet in the drawer 3- Put the packet in the drawer 4- Put the packets in the drawer 5- Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Move the tray backward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the tray backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the tray 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":"6529292433877857436.mp4"}
+{"uid":"3329795538528908786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"492318291594274304.mp4"}
+{"uid":"13769758689114003427","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":"10776783701425693625.mp4"}
+{"uid":"18277989076623004490","text":"\u003ctask:success:discrete:False\u003e\nPut the packets in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packets in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packets in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: Put the packets in the drawer\n\u003c/PRED\u003e","video":"17195819448305086841.mp4"}
+{"uid":"12306774272912540375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10479105217974551068.mp4"}
+{"uid":"2690011738007862052","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet 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":"3708078157399185342.mp4"}
+{"uid":"9024120175221238191","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer 11- Put the packets in the drawer 12- Close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer 11- Put the packets in the drawer 12- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17013974567410987323.mp4"}
+{"uid":"7273736978647263540","text":"\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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer 11- Put the packets 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer 11- Put the packets 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:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"9365948159162626126.mp4"}
+{"uid":"5058146140906749733","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- Put the packet in the drawer 3- Put the packets in the drawer 4- Put the packet in the drawer 5- Put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"6122658557782464049.mp4"}
+{"uid":"5597806533548229790","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":"11355241487937074919.mp4"}
+{"uid":"10800919815510138681","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":"16284617963938055686.mp4"}
+{"uid":"7964476800038585024","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- Move the tray backward 3- Put the packet in the drawer 4- Put the packet in the drawer 5- Move the tray backward\n\u003c/PRED\u003e","video":"16295102261570196867.mp4"}
+{"uid":"6239671424824182205","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer 11- Put the packets in the drawer 12- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer 11- Put the packets in the drawer 12- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3628837720435997706.mp4"}
+{"uid":"3916904803904248379","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packets 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packets in the drawer 2- Put the packet in the drawer 3- Put the packets 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 packets in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packets 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":"13998326301584353219.mp4"}
+{"uid":"9473600081330912416","text":"\u003ctask:success:discrete:True\u003e\nput packet 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 packet in the drawer\n\u003c/PRED\u003e","video":"4003811384962257213.mp4"}
+{"uid":"10434696030150980709","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- Put the packets in the drawer 3- Put the packet in the drawer 4- Put the packets in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet 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":"15771461917093834953.mp4"}
+{"uid":"3403999812560800053","text":"\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"10542003432695037052.mp4"}
+{"uid":"1642768523726916054","text":"\u003ctask:success:discrete:False\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- Put the packet in the drawer 3- Put the packets in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"16624649086040242919.mp4"}
+{"uid":"4604162709210862115","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":"8896492803675175277.mp4"}
+{"uid":"8690555474899272540","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":"414009492869752660.mp4"}
+{"uid":"14994606694353587113","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet 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":"7837298045068236738.mp4"}
+{"uid":"9181027472992523360","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- Put the packets in the drawer 3- Put the packet in the drawer 4- Put the packets 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: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"2345757279820066587.mp4"}
+{"uid":"2713963676846308672","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:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer 11- Put the packets 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: move the chips from the tray to the middle 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer 11- Put the packets in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"3148130892908572900.mp4"}
+{"uid":"7491470507855201303","text":"\u003ctask:success:discrete:False\u003e\nPut the packet 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet 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: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e","video":"3795605873589590226.mp4"}
+{"uid":"14812513335134461831","text":"\u003ctask:success:discrete:True\u003e\nPut the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e","video":"10566418129624335109.mp4"}
+{"uid":"2467461068934943973","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- Put the packets in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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":"15157068398729485003.mp4"}
+{"uid":"13379339473431435403","text":"\u003ctask:success:discrete:True\u003e\nput packet 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 packet in the drawer\n\u003c/PRED\u003e","video":"18216591526245584161.mp4"}
+{"uid":"12687008387326320412","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the drawer 2- Move the tray backward 3- Put the packet in the drawer 4- Put the packet in the drawer 5- Move the tray backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e","video":"13833885504156303033.mp4"}
+{"uid":"14669965980754068738","text":"\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"1960760927582929262.mp4"}
+{"uid":"7963738016815902308","text":"\u003ctask:success:discrete:True\u003e\nput the packets in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packets in the drawer\n\u003c/PRED\u003e","video":"11398523352466229349.mp4"}
+{"uid":"9508469307832187857","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet 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 packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the drawer 2- Move the tray backward 3- Put the packet in the drawer 4- Put the packet in the drawer 5- Put the packets in the drawer\n\u003c/PRED\u003e","video":"2596849874108013923.mp4"}
+{"uid":"15064150217973557062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tea box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3051923965712703739.mp4"}
+{"uid":"314189176822058803","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":"13821033742096396130.mp4"}
+{"uid":"10406775287749079854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3884872138355923650.mp4"}
+{"uid":"15284088904172348310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the holder upside 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":"16386141845685339668.mp4"}
+{"uid":"5608956207334058399","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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":"14358029307109932056.mp4"}
+{"uid":"3932097537683178401","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntouch the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7417392696003883341.mp4"}
+{"uid":"10115122251330492980","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":"15345534604868120002.mp4"}
+{"uid":"12921860643969328531","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer 11- Put the packets in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer 11- Put the packets in the drawer Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"2113660442721210382.mp4"}
+{"uid":"2277746716952812094","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":"8644152752084105942.mp4"}
+{"uid":"2955273968667708939","text":"\u003ctask:success:discrete:True\u003e\nPut the packets in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packets in the drawer\n\u003c/PRED\u003e","video":"4816603167705940291.mp4"}
+{"uid":"13513274807386210574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17612061576661295619.mp4"}
+{"uid":"7817889435276012781","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a candy in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3588739710183474673.mp4"}
+{"uid":"13592891614613503018","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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":"4879224307872524490.mp4"}
+{"uid":"11715720983790491506","text":"\u003ctask:success:discrete:True\u003e\nPut the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e","video":"12509597065512203153.mp4"}
+{"uid":"6078764373686157082","text":"\u003ctask:success:discrete:True\u003e\nput packet 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 packet in the drawer\n\u003c/PRED\u003e","video":"8729253124426333561.mp4"}
+{"uid":"17199174994223765984","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the drawer 2- Put the packets in the drawer 3- Put the packet in the drawer 4- Put the packets in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e","video":"4140755337400021664.mp4"}
+{"uid":"7766344452189085622","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrotate the stand ACW Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14588288958794101334.mp4"}
+{"uid":"5535492659048167693","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"3769486139864762331.mp4"}
+{"uid":"7016386680213777222","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"14367331724526006794.mp4"}
+{"uid":"1965169775738967451","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer 11- Put the packets in the drawer 12- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer 10- Put the packet in the drawer 11- Put the packets in the drawer 12- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4284784417399339259.mp4"}
+{"uid":"12675779307069848262","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet 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":"241726259736175410.mp4"}
+{"uid":"10052642762323607155","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet 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":"7448121901743757047.mp4"}
+{"uid":"5348579491975308073","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- Move the tray backward 3- Put the packet in the drawer 4- Put the packet in the drawer 5- Put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"13607714574604097370.mp4"}
+{"uid":"5822662467083243988","text":"\u003ctask:success:discrete:True\u003e\nput packet 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 packet in the drawer\n\u003c/PRED\u003e","video":"12042007636646791263.mp4"}
+{"uid":"15578809158952845571","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pista in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15247228959305501021.mp4"}
+{"uid":"9338142833760513950","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"290552626997777137.mp4"}
+{"uid":"3694264480111021004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"2321427622596203489.mp4"}
+{"uid":"8028638887542397229","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: move the chips from the tray to the middle drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"17306682510723032995.mp4"}
+{"uid":"8270667758998197749","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packets 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: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: Put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packets in the drawer 2- Put the packet in the drawer 3- Put the packets in the drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packets in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packets in the drawer\n\u003c/PRED\u003e","video":"8074087193057294868.mp4"}
+{"uid":"3190452711605984112","text":"\u003ctask:success:discrete:True\u003e\nput packet 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 packet in the drawer\n\u003c/PRED\u003e","video":"1462083384175168142.mp4"}
+{"uid":"14012325869229224425","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet 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":"14727229767580184206.mp4"}
+{"uid":"7763159793295727108","text":"\u003ctask:success:discrete:True\u003e\nput the packets in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packets in the drawer\n\u003c/PRED\u003e","video":"3117529088669367403.mp4"}
+{"uid":"15014946313558552723","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace paper glass on right corner of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2459946117609962104.mp4"}
+{"uid":"1777635243209089055","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"2173893993171058331.mp4"}
+{"uid":"9237517495792091255","text":"\u003ctask:success:discrete:True\u003e\nPut the packets in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packets in the drawer\n\u003c/PRED\u003e","video":"6080845510673676964.mp4"}
+{"uid":"468550915069512849","text":"\u003ctask:success:discrete:False\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- Put the packets in the drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"10356387052640723876.mp4"}
+{"uid":"9196554025742345004","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward 7- Put the packet in the drawer 8- Put the packet in the drawer 9- Put the packets in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the drawer 2- Put the packets 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 packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e","video":"5380573381742651806.mp4"}
+{"uid":"5789307477600299192","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Adjust the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the tray 2- Put the packet in the drawer 3- Put the packet in the drawer 4- Move the tray backward 5- Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust 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: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: Adjust the tray\n\u003c/PRED\u003e","video":"10180449304930002654.mp4"}
+{"uid":"13202396727188544444","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- Put the packet in the drawer 3- Put the packets in the drawer 4- Put the packet in the drawer 5- Put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"197955302627248415.mp4"}
+{"uid":"1723477769170960024","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet 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":"177485901171735007.mp4"}
+{"uid":"3869677322033866396","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet 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":"14811744240088071238.mp4"}
+{"uid":"8416165581308883584","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet 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":"1549215736341449191.mp4"}
+{"uid":"7830361292648028195","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":"3747007539685659872.mp4"}
+{"uid":"16803916349336612446","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":"10089931435304682056.mp4"}
+{"uid":"1067604616335585890","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet 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: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer 6- Move the tray backward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the drawer 2- Put the packet in the drawer 3- Put the packets in the drawer 4- Put the packet in the drawer 5- Put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet 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":"3847828635978110224.mp4"}
+{"uid":"15445186158771800284","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: none 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: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: move the chips from the tray to the middle 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: move the chips from the tray to the middle drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer 5- Put the packet in the drawer\n\u003c/PRED\u003e","video":"17458658283480584766.mp4"}
+{"uid":"14059587169420264917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white can in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14692671123110784191.mp4"}
+{"uid":"7235188267966823834","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput two pink packets on 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":"5436346623622893145.mp4"}
+{"uid":"9357191237195835974","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"380649315279769990.mp4"}
+{"uid":"10353956214706856675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10280396956536641420.mp4"}
+{"uid":"16978914509218464670","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet 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":"16664908121356478166.mp4"}
+{"uid":"834775730850378525","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- Move the tray backward 3- Put the packet in the drawer 4- Put the packet in the drawer 5- Move the tray backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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":"18170635931758283905.mp4"}
+{"uid":"12402722250834141617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the sanitizer 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":"15063327687059666425.mp4"}
+{"uid":"6440018411189706119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the 4th number snookers ball from the snookers board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6561008082189614319.mp4"}
+{"uid":"4760558857149433941","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7832960666227577416.mp4"}
+{"uid":"17817451170130237698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace duck 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":"2115357710530222758.mp4"}
+{"uid":"2227724448428148890","text":"\u003ctask:success:discrete:True\u003e\nPut the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e","video":"3567238645797028316.mp4"}
+{"uid":"9528588045124555794","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer 3- Move the tray backward 4- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- Move the tray backward 3- Put the packet in the drawer 4- Put the packet in the drawer 5- Put the packets in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"2583363414848051065.mp4"}
+{"uid":"6258949644476060494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nknock down tetra pack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5405545086436165883.mp4"}
+{"uid":"9851565361225276140","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Move the tray backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the tray backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the tray backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the tray backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the tray to the middle drawer. Q: immediate next step? \u003cPRED\u003eA: Move the tray backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the tray 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: move the chips from the tray to the middle drawer. last 20 steps: 1- Open the drawer 2- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move the tray backward 2- Put the packet in the drawer 3- Put the packet in the drawer 4- Move the tray backward 5- Put the packet in the drawer\n\u003c/PRED\u003e","video":"9413216881908627799.mp4"}
+{"uid":"8966308122690455304","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet 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":"5168699102385715816.mp4"}
+{"uid":"5050150983283254778","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":"16667786406434977286.mp4"}
+{"uid":"17122272423728769967","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Remove the bowl from the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRemove the bowl from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Remove the bowl from the stack 2- Unstack white bowl from the stack 3- unstack the bowl on the table 4- Place the fruit inside the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table Q: immediate next step? \u003cPRED\u003eA: Remove the bowl from the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Remove the bowl from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRemove the bowl from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Remove the bowl from the stack\n\u003c/PRED\u003e","video":"6906343378223684470.mp4"}
+{"uid":"13928358349755521774","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table Q: immediate next step? \u003cPRED\u003eA: Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack white bowl from the stack 2- Unstack white bowl from the stack 3- unstack the bowl on the table 4- Place the fruit inside the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnstack white bowl from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack white bowl from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack white bowl from the stack\n\u003c/PRED\u003e","video":"6883752817999339919.mp4"}
+{"uid":"5931329315230942597","text":"\u003ctask:success:discrete:True\u003e\nplace chair under 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 chair under table\n\u003c/PRED\u003e","video":"10140817067748435386.mp4"}
+{"uid":"14517564299331987994","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":"15524775388457301922.mp4"}
+{"uid":"15155286960444511130","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl 10- put the orange in the bowl 11- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl 10- put the orange in the bowl 11- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"17233059983405988523.mp4"}
+{"uid":"16364649037538517392","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place orange in a bowl 2- Put the orange in the bowl 3- put the orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e","video":"821191382981190975.mp4"}
+{"uid":"527194760698801437","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack white bowl from the stack 2- Place the fruit inside the bowl 3- put the orange in the bowl 4- Put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack Q: immediate next step? \u003cPRED\u003eA: Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack white bowl from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnstack white bowl from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14436663936001586107.mp4"}
+{"uid":"11712500969685756617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11759419925004955723.mp4"}
+{"uid":"13309319766259832613","text":"\u003ctask:success:discrete:True\u003e\nput the 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 the orange in the bowl\n\u003c/PRED\u003e","video":"1681435371804939423.mp4"}
+{"uid":"5669465955938714937","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl 10- put the orange in the bowl 11- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place orange in a bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl 10- put the orange in the bowl 11- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e","video":"8127438034478622180.mp4"}
+{"uid":"5646662435438234055","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs on the table Q: immediate next step? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace chair under table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 chair under table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace chair under table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place chair under table 2- place chair under table 3- place chair under table 4- place chair under table 5- place chair under table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e","video":"4200919982287551044.mp4"}
+{"uid":"3135877155893678214","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the blue glass on the table 2- unstack the orange glass on the table 3- Unstack white bowl from the stack 4- Unstack white bowl from the stack 5- unstack the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the blue 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table Q: immediate next step? \u003cPRED\u003eA: unstack the blue glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the blue 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the blue glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the blue glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the blue glass on the table\n\u003c/PRED\u003e","video":"9113801609433027278.mp4"}
+{"uid":"7102830441466037469","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":"14329089754423071165.mp4"}
+{"uid":"15391785802714763029","text":"\u003ctask:success:discrete:True\u003e\nUnstack red glass from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Unstack red glass from the stack\n\u003c/PRED\u003e","video":"18399816319314245995.mp4"}
+{"uid":"2656195156941280916","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":"8886265118095883904.mp4"}
+{"uid":"10442227235656683273","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl 10- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl 10- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place orange in a bowl 2- done\n\u003c/PRED\u003e","video":"7947538136579430587.mp4"}
+{"uid":"389233224112704147","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRemove the glass from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Remove the glass from the stack 2- Unstack blue glass from the stack 3- unstack the orange glass on the table 4- Unstack white bowl from the stack 5- Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table Q: immediate next step? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e","video":"16284229246389338397.mp4"}
+{"uid":"9483989263396552741","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nRemove the glass from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Remove the glass from the stack 2- unstack the glass on the table 3- Unstack blue glass from the stack 4- unstack the orange glass on the table 5- Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table Q: immediate next step? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e","video":"13808325670314783987.mp4"}
+{"uid":"15926735465353123078","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the lid of the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11780779345474501489.mp4"}
+{"uid":"584803634381300181","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the gate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11968230922328226102.mp4"}
+{"uid":"3560105005936773804","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Remove the bowl from the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Remove the bowl from the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Remove the bowl from the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Remove the bowl from the stack 2- Place the fruit inside the bowl 3- put the orange in the bowl 4- Put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack Q: immediate next step? \u003cPRED\u003eA: Remove the bowl from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRemove the bowl from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRemove the bowl from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3398852344806715928.mp4"}
+{"uid":"11663518078030576238","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13308687103672626026.mp4"}
+{"uid":"8849225680425273431","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack 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:success:discrete:False\u003e\nunstack 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: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the glass on the table\n\u003c/PRED\u003e","video":"4634836945527221013.mp4"}
+{"uid":"6719673994846309222","text":"\u003ctask:success:discrete:True\u003e\nplace chair under 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: push in all the chairs on the table. last 20 steps: 1- place chair under table 2- place chair under table 3- place chair under table 4- place chair under table 5- place chair under table 6- place chair under table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs on the table. last 20 steps: 1- place chair under table 2- place chair under table 3- place chair under table 4- place chair under table 5- place chair under table 6- place chair under table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs 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 chair under table\n\u003c/PRED\u003e","video":"1047180113537648483.mp4"}
+{"uid":"3872692717017823122","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":"17395077943065391090.mp4"}
+{"uid":"8033230508320968902","text":"\u003ctask:success:discrete:True\u003e\nPlace orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e","video":"16959538023573150050.mp4"}
+{"uid":"11127936521381200361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the choco ball in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13043383921653262398.mp4"}
+{"uid":"9122067304930618368","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRemove the glass from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Remove the glass from the stack 2- Unstack white bowl from the stack 3- Unstack white bowl from the stack 4- unstack the bowl on the table 5- Place the fruit inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack Q: immediate next step? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e","video":"6967922505347277548.mp4"}
+{"uid":"12108053335060549393","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15148858179568659131.mp4"}
+{"uid":"5292634652696926011","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table Q: immediate next step? \u003cPRED\u003eA: unstack the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass on the table 2- Unstack blue glass from the stack 3- unstack the orange glass on the table 4- Unstack white bowl from the stack 5- Unstack white bowl from the stack\n\u003c/PRED\u003e","video":"18251305618163938884.mp4"}
+{"uid":"12335834314243115363","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"15538283709871844162.mp4"}
+{"uid":"6284552332505669216","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16758991284584076351.mp4"}
+{"uid":"17520206595907331655","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Remove the glass from the stack 2- unstack the orange glass on the table 3- Unstack white bowl from the stack 4- Unstack white bowl from the stack 5- unstack the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table Q: immediate next step? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRemove the glass from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4957927587489988512.mp4"}
+{"uid":"7739095073509984493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5495098955508048347.mp4"}
+{"uid":"9813527533103107902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the notepad to the bottom of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4308132499496205169.mp4"}
+{"uid":"17399662417232280092","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown chip bag in a 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":"6955076271731681230.mp4"}
+{"uid":"8403124669681810624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2820739686322373616.mp4"}
+{"uid":"5562031116983027890","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the yellow packet 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":"8959482295332217669.mp4"}
+{"uid":"15142846943766073643","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Unstack blue glass from the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nUnstack blue glass from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2614473315203810888.mp4"}
+{"uid":"15285320535299104460","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs on the table. last 20 steps: 1- place chair under table 2- place chair under table 3- place chair under table 4- place chair under table Q: next 5 steps? \u003cPRED\u003eA: 1- place chair under table 2- place chair under table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs on the table. last 20 steps: 1- place chair under table 2- place chair under table 3- place chair under table 4- place chair under table Q: immediate next step? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace chair under table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 chair under table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs on the table Q: immediate next step? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace chair under table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14071730693437818963.mp4"}
+{"uid":"12320880387395525313","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":"9863667451200580834.mp4"}
+{"uid":"2135371037976640746","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chess coins on the chess board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2699996568456996319.mp4"}
+{"uid":"3328324195449898588","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Remove the bowl from the stack 2- unstack the bowl on the table 3- Place the fruit inside the bowl 4- put the orange in the bowl 5- Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Remove the bowl from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRemove the bowl from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack Q: immediate next step? \u003cPRED\u003eA: Remove the bowl from the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Remove the bowl from the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Remove the bowl from the stack\n\u003c/PRED\u003e","video":"8242385514411064233.mp4"}
+{"uid":"1647630276768992646","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16771631815680798346.mp4"}
+{"uid":"9139097042325828808","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":"9582761795839211994.mp4"}
+{"uid":"10271634145233818549","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl on the table 2- Place the fruit inside the bowl 3- put the orange in the bowl 4- Put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack Q: immediate next step? \u003cPRED\u003eA: unstack the bowl on the table\n\u003c/PRED\u003e","video":"63961963706149619.mp4"}
+{"uid":"8125470680721459931","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass on the table 2- unstack the glass on the table 3- Unstack blue glass from the stack 4- unstack the orange glass on the table 5- Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table Q: immediate next step? \u003cPRED\u003eA: unstack the glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass on the table\n\u003c/PRED\u003e","video":"17595753439359393794.mp4"}
+{"uid":"10611949174977763251","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack Q: immediate next step? \u003cPRED\u003eA: unstack the bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl on the table 2- unstack the bowl on the table 3- Place the fruit inside the bowl 4- put the orange in the bowl 5- Put the orange in the bowl\n\u003c/PRED\u003e","video":"11057574386624342123.mp4"}
+{"uid":"4668948324011195878","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table Q: immediate next step? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place orange in a bowl 2- Put the orange in the bowl 3- put the orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace orange in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place orange in a bowl\n\u003c/PRED\u003e","video":"9007625230208985661.mp4"}
+{"uid":"14073697380750556227","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nUnstack white bowl from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2709199325736851267.mp4"}
+{"uid":"2655708460689082869","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove down to the cloth 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":"17394192660079036157.mp4"}
+{"uid":"7788635417273994734","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- put the orange in the bowl 3- Put the orange in the bowl 4- put the orange in the bowl 5- done\n\u003c/PRED\u003e","video":"15723122631228407171.mp4"}
+{"uid":"9416689473290600391","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the scooper 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":"17138880861054774308.mp4"}
+{"uid":"568141574907695358","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the fruit inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the fruit inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Place the fruit inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the fruit inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the fruit inside the bowl 2- Put the orange in the bowl 3- put the orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the fruit inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place the fruit inside the bowl\n\u003c/PRED\u003e","video":"15746051166140497313.mp4"}
+{"uid":"7996517824737217439","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Place the fruit inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the fruit inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the fruit inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table Q: immediate next step? \u003cPRED\u003eA: Place the fruit inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the fruit inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the fruit inside the bowl 2- put the orange in the bowl 3- Put the orange in the bowl 4- put the orange in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the fruit inside the bowl\n\u003c/PRED\u003e","video":"8317117538114197081.mp4"}
+{"uid":"7509574094491712257","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl 10- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- put the orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl 10- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15014398885196763430.mp4"}
+{"uid":"17939262339085662307","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs on the table Q: immediate next step? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs on the table. last 20 steps: 1- place chair under table Q: immediate next step? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace chair under table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs on the table. last 20 steps: 1- place chair under table Q: next 5 steps? \u003cPRED\u003eA: 1- place chair under table 2- place chair under table 3- place chair under table 4- place chair under table 5- place chair under table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e","video":"8110457888072290884.mp4"}
+{"uid":"2241361440114909283","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack Q: immediate next step? \u003cPRED\u003eA: unstack the orange glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the orange glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the orange glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the orange 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the orange glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the orange glass on the table 2- Unstack white bowl from the stack 3- Unstack white bowl from the stack 4- unstack the bowl on the table 5- Place the fruit inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the orange 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","video":"15956923294649943101.mp4"}
+{"uid":"12648367416136170314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2920966750800178665.mp4"}
+{"uid":"8747405736575105576","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack red glass from the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack red glass from the stack 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack red glass from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack red glass from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnstack red glass from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack red glass from the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Unstack red glass from the stack\n\u003c/PRED\u003e","video":"15347373840476650597.mp4"}
+{"uid":"4054576766149258285","text":"\u003ctask:success:discrete:False\u003e\nplace chair under table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs on the table. last 20 steps: 1- place chair under table 2- place chair under table 3- place chair under table Q: immediate next step? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace chair under table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs on the table Q: immediate next step? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs on the table. last 20 steps: 1- place chair under table 2- place chair under table 3- place chair under table Q: next 5 steps? \u003cPRED\u003eA: 1- place chair under table 2- place chair under table 3- place chair under table 4- done\n\u003c/PRED\u003e","video":"73585595043717994.mp4"}
+{"uid":"3211234281455632509","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Place the fruit inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the fruit inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the fruit inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the fruit inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the fruit inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl 10- put the orange in the bowl 11- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the fruit inside the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl 10- put the orange in the bowl 11- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the fruit inside the bowl\n\u003c/PRED\u003e","video":"1894606007205156050.mp4"}
+{"uid":"91939302109316271","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11490786433994995898.mp4"}
+{"uid":"16573948217980445151","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange 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":"15619392502162756491.mp4"}
+{"uid":"4177968471142697737","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18386738904397233770.mp4"}
+{"uid":"15532172522713091780","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":"5404248567106168.mp4"}
+{"uid":"6738204590998310921","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack orange glass from the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack orange glass from the stack 2- Unstack blue glass from the stack 3- unstack the orange glass on the table 4- Unstack white bowl from the stack 5- Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack orange glass from the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack orange glass from the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table Q: immediate next step? \u003cPRED\u003eA: Unstack orange glass from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack orange glass from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6859646483754124836.mp4"}
+{"uid":"6892254618379867989","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14090305063170551399.mp4"}
+{"uid":"3680033694104950224","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":"1421707529808545549.mp4"}
+{"uid":"11540008365642558545","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the red packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16904798132763909178.mp4"}
+{"uid":"3336727918893867033","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs on the table. last 20 steps: 1- place chair under table 2- place chair under table Q: immediate next step? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace chair under table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs on the table Q: immediate next step? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs on the table. last 20 steps: 1- place chair under table 2- place chair under table Q: next 5 steps? \u003cPRED\u003eA: 1- place chair under table 2- place chair under table 3- place chair under table 4- place chair under table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e","video":"9668151652911219257.mp4"}
+{"uid":"13654341560043848358","text":"\u003ctask:success:discrete:True\u003e\nunstack 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: unstack the glass on the table\n\u003c/PRED\u003e","video":"13616005219175495317.mp4"}
+{"uid":"10569593283448399205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace triangle blocks from drawer to counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12145482943590458088.mp4"}
+{"uid":"9836765041236089591","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl on the table 2- Unstack white bowl from the stack 3- unstack the bowl on the table 4- Place the fruit inside the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table Q: immediate next step? \u003cPRED\u003eA: unstack the bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl on the table\n\u003c/PRED\u003e","video":"12802284226751138297.mp4"}
+{"uid":"14047198222060810587","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":"4771843236825338699.mp4"}
+{"uid":"2815768684862105036","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- Put the orange in the bowl 3- put the orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10883244984319049476.mp4"}
+{"uid":"2432947472795607531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14389065310939544785.mp4"}
+{"uid":"15056456458282555949","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl 10- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange inside the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack 7- Unstack white bowl from the stack 8- unstack the bowl on the table 9- Place the fruit inside the bowl 10- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange inside the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9499790325621207472.mp4"}
+{"uid":"17764480498606135176","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":"15687562013816707926.mp4"}
+{"uid":"12815561339644880785","text":"\u003ctask:success:discrete:True\u003e\nRemove the glass from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e","video":"10395031097443017076.mp4"}
+{"uid":"5808355085299132060","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack orange glass from the stack 2- unstack the glass on the table 3- Unstack blue glass from the stack 4- unstack the orange glass on the table 5- Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table Q: immediate next step? \u003cPRED\u003eA: Unstack orange glass from the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack orange glass from the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack orange glass from the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack orange glass from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack orange glass from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnstack orange glass from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13877422710693154889.mp4"}
+{"uid":"291251213438799656","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack yellow glass from the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack yellow glass from the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack Q: immediate next step? \u003cPRED\u003eA: Unstack yellow glass from the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnstack yellow glass from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack yellow glass from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack yellow glass from the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack yellow glass from the stack 2- Unstack white bowl from the stack 3- Unstack white bowl from the stack 4- unstack the bowl on the table 5- Place the fruit inside the bowl\n\u003c/PRED\u003e","video":"12800008885946529114.mp4"}
+{"uid":"11473454073646439821","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack blue glass from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack blue glass from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack blue glass from the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack blue glass from the stack 2- unstack the orange glass on the table 3- Unstack white bowl from the stack 4- Unstack white bowl from the stack 5- unstack the bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack blue glass from the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnstack blue glass from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table Q: immediate next step? \u003cPRED\u003eA: Unstack blue glass from the stack\n\u003c/PRED\u003e","video":"4204649101142142251.mp4"}
+{"uid":"786842075475958767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10716642724873970301.mp4"}
+{"uid":"7598991541294208686","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nRemove the glass from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Remove the glass from the stack 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRemove the glass from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Remove the glass from the stack\n\u003c/PRED\u003e","video":"5212333175302793112.mp4"}
+{"uid":"10656563730887094034","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":"8865351060550513306.mp4"}
+{"uid":"1218003936079448054","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":"4321696367502993283.mp4"}
+{"uid":"7447247903127387521","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack Q: immediate next step? \u003cPRED\u003eA: Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack white bowl from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack white bowl from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass on the table 2- unstack the glass on the table 3- unstack the glass on the table 4- Unstack blue glass from the stack 5- unstack the orange glass on the table 6- Unstack white bowl from the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack white bowl from the stack 2- unstack the bowl on the table 3- Place the fruit inside the bowl 4- put the orange in the bowl 5- Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack white bowl from the stack\n\u003c/PRED\u003e","video":"16327594583919882367.mp4"}
+{"uid":"8423505400645240085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pistachio into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6215183523051165394.mp4"}
+{"uid":"5679057051554958424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18060699101900695172.mp4"}
+{"uid":"17956086307751986306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9749226437577027231.mp4"}
+{"uid":"4073116412400238681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the left orange house plant 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":"157376765181022094.mp4"}
+{"uid":"17001626024388835247","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs on the table. last 20 steps: 1- place chair under table 2- place chair under table 3- place chair under table 4- place chair under table 5- place chair under table Q: immediate next step? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace chair under table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 chair under table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: push in all the chairs on the table. last 20 steps: 1- place chair under table 2- place chair under table 3- place chair under table 4- place chair under table 5- place chair under table Q: next 5 steps? \u003cPRED\u003eA: 1- place chair under table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: push in all the chairs on the table Q: immediate next step? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e","video":"14670032061954169312.mp4"}
+{"uid":"9940882258806870637","text":"\u003ctask:success:discrete:True\u003e\nput red pens in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket 3- put the pen into the pen holder 4- put red pens in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket 3- put the pen into the pen holder 4- put red pens in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6738190809984867368.mp4"}
+{"uid":"11508184596160579570","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":"5416488104682409337.mp4"}
+{"uid":"13886606251926622412","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the red pen inside the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red pen inside the holder 2- put the pen into the pen holder 3- put red pens in the basket 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red pen inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen container Q: immediate next step? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e","video":"17691846329878863788.mp4"}
+{"uid":"12772690184127793696","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pens in the basket 2- put the pen into the pen holder 3- put red pens in the basket 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pens in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen container Q: immediate next step? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e","video":"6611754036982224930.mp4"}
+{"uid":"9375598456240292951","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":"16221836586062040532.mp4"}
+{"uid":"17914726065731696664","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink pouch in the bottom center partition of the kit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8973553529773850948.mp4"}
+{"uid":"9139758816466789632","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket 3- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the red pen inside the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen container Q: immediate next step? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red pen inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket 3- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red pen inside the holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e","video":"9772791903461983001.mp4"}
+{"uid":"11146700286602387749","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":"9669847693951880863.mp4"}
+{"uid":"2951540661116246591","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1777175282765475903.mp4"}
+{"uid":"11154643097244311546","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput red pens in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12826144333224384268.mp4"}
+{"uid":"17138977307333411984","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3483111084771712916.mp4"}
+{"uid":"3262935178678765946","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket 3- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen container Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket 3- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12134112733293925183.mp4"}
+{"uid":"4441534170435822583","text":"\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"10017535479718966202.mp4"}
+{"uid":"1963544976801391417","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- put red pens in the basket 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen container Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"18186121961834720548.mp4"}
+{"uid":"7281585267811553654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the sea weed snack pack from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16226841305428043989.mp4"}
+{"uid":"13409054185780253729","text":"\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"15882142962250925874.mp4"}
+{"uid":"3602556327578677684","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red pen inside 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":"11652523180509774151.mp4"}
+{"uid":"7128083683597409052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5181696842000451788.mp4"}
+{"uid":"18224249930400006689","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket Q: immediate next step? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen container Q: immediate next step? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red pen inside the holder 2- put red pens in the basket 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the red pen inside the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red pen inside the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14271969977901440416.mp4"}
+{"uid":"9526502298357235499","text":"\u003ctask:success:discrete:True\u003e\nPlace the red pen inside the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e","video":"1179656831925509503.mp4"}
+{"uid":"8166103917688528385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2871293703845473902.mp4"}
+{"uid":"14471938411360936414","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red pen inside 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 red pen inside 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 red pen inside the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen container Q: immediate next step? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red pen inside the holder 2- put red pens in the basket 3- put the pen into the pen holder 4- put red pens in the basket 5- done\n\u003c/PRED\u003e","video":"3061573371063333901.mp4"}
+{"uid":"733375467240636338","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput red pens in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"335282584348883930.mp4"}
+{"uid":"11272641822532125935","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pens in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put red pens in the basket 2- put red pens in the basket 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket Q: immediate next step? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen container Q: immediate next step? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red pens in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2954596823702799539.mp4"}
+{"uid":"1036376788102015863","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4038210327787396931.mp4"}
+{"uid":"14856520775365124377","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red pen inside 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":"12454640223347849680.mp4"}
+{"uid":"9488639081711046225","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket 3- put the pen into the pen holder 4- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket 3- put the pen into the pen holder 4- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17366412066415996738.mp4"}
+{"uid":"8326429132847547156","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket 3- put the pen into the pen holder 4- Place the red pen inside the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red pen inside the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red pen inside the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket 3- put the pen into the pen holder 4- Place the red pen inside the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12475494381245097171.mp4"}
+{"uid":"4662525142190980570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a 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":"6262631507318950414.mp4"}
+{"uid":"8380404211925975701","text":"\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- put red pens in the basket 3- put the pen into the pen holder 4- put red pens in the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen container Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"11996673293983691723.mp4"}
+{"uid":"17556469847046629981","text":"\u003ctask:success:discrete:True\u003e\nput red pens in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e","video":"8089429103168191058.mp4"}
+{"uid":"10158136985704038083","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen container Q: immediate next step? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red pens in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put red pens in the basket 2- put red pens in the basket 3- put the pen into the pen holder 4- put red pens in the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pens in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e","video":"824911116870557822.mp4"}
+{"uid":"18196066096196748677","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- put the pen into the pen holder 3- put red pens in the basket 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen container Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"452483530886735290.mp4"}
+{"uid":"5980523961147092643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7833459989212564080.mp4"}
+{"uid":"2569584132841056879","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the pens in the pen container Q: immediate next step? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket 3- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put red pens in the basket 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the pens in the pen container. last 20 steps: 1- put the pen into the pen holder 2- put red pens in the basket 3- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red pens in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red pens in the basket\n\u003c/PRED\u003e","video":"6926770747206939265.mp4"}
+{"uid":"865647058999419489","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"637748729156258993.mp4"}
+{"uid":"942888541000237665","text":"\u003ctask:success:discrete:True\u003e\nput the 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 the orange in the bowl\n\u003c/PRED\u003e","video":"10172531526459590838.mp4"}
+{"uid":"9669802213699525343","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the bowl right side\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: move the bowl right side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the bowl right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: move the bowl right side\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the bowl right side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the bowl right side\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- move the bowl right side 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e","video":"3666516041651464514.mp4"}
+{"uid":"1650237130439195022","text":"\u003ctask:success:discrete:True\u003e\nplace orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e","video":"13080778665138544819.mp4"}
+{"uid":"6606430712230017388","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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":"12192841527557397856.mp4"}
+{"uid":"10457151181520576044","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange into bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e","video":"17622535451025856448.mp4"}
+{"uid":"3914161908856011752","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"16255691022218623231.mp4"}
+{"uid":"13247440972429275200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"11260838121529428549.mp4"}
+{"uid":"15619559200332338526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12491872910045459280.mp4"}
+{"uid":"6650793481407656650","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange into bowl 2- adjust the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e","video":"757956778272648915.mp4"}
+{"uid":"13432135354624045135","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":"10511051680656279675.mp4"}
+{"uid":"8170018031170540496","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4724424811271626442.mp4"}
+{"uid":"17094530706027503283","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6218793422675316594.mp4"}
+{"uid":"1371849833820791175","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the tape box on the existing tape 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":"8441352544595497573.mp4"}
+{"uid":"11383397842494113016","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an 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:success:discrete:False\u003e\nput an 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 an orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in the bowl 2- put the orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e","video":"11612093910689244265.mp4"}
+{"uid":"12746790241883543291","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange into bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e","video":"15168287822773947517.mp4"}
+{"uid":"425128436458632444","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place orange into bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e","video":"9450779089214774840.mp4"}
+{"uid":"15122708378788712804","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- adjust the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e","video":"4378730013221202254.mp4"}
+{"uid":"11750230660997410876","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange into bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14145586909760303596.mp4"}
+{"uid":"6569090889518055946","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: adjust the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nadjust 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":"16812930888679192078.mp4"}
+{"uid":"11741208464459834654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a brown 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":"8856618232657438635.mp4"}
+{"uid":"5982484537653779960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife 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":"1372451339018464029.mp4"}
+{"uid":"11072830380305992013","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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":"1735022530749812709.mp4"}
+{"uid":"7388953217871610479","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":"3904331239105090747.mp4"}
+{"uid":"15348800655507523148","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13231508832451419070.mp4"}
+{"uid":"4460674427301528211","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":"17003124718385331767.mp4"}
+{"uid":"1580483923932577756","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput an 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:success:discrete:False\u003e\nput an orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e","video":"11778953019819447200.mp4"}
+{"uid":"10038482186130104772","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange into bowl 2- put the orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7753073814035822303.mp4"}
+{"uid":"13764792487818086463","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e","video":"6944120319195743805.mp4"}
+{"uid":"13861707155531039120","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the third orange in the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"100090404545945522.mp4"}
+{"uid":"17044345662692595702","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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 the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"12934468378814320459.mp4"}
+{"uid":"950031187210708381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the strainer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12318557490391561615.mp4"}
+{"uid":"15409676408224573480","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput an 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":"17798115569620362694.mp4"}
+{"uid":"9241172146238738211","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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":"14676160996967404368.mp4"}
+{"uid":"15145531659745965285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to the top 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":"18128716439362809859.mp4"}
+{"uid":"4362904142520634175","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- done\n\u003c/PRED\u003e","video":"6589577785734865039.mp4"}
+{"uid":"13568868267091668565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2012502792549424787.mp4"}
+{"uid":"3761485609308408186","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in the bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e","video":"15631278233861791773.mp4"}
+{"uid":"14065122022461821494","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in the bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an 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: put an orange in the bowl\n\u003c/PRED\u003e","video":"2089915997883299659.mp4"}
+{"uid":"11548734681830030948","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput lid back 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":"3291526115812925862.mp4"}
+{"uid":"17782111307335663303","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- place orange into bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl 7- put the orange in the bowl 8- place orange into bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange into bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into 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 orange into bowl\n\u003c/PRED\u003e","video":"7336045955549042582.mp4"}
+{"uid":"6844855821049032876","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10694022123518198043.mp4"}
+{"uid":"6650032302285290990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the chair with table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6947457194233469252.mp4"}
+{"uid":"10873804340784938886","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":"15588808267669113407.mp4"}
+{"uid":"12482754843741729489","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"7864495669484262907.mp4"}
+{"uid":"112596101128167444","text":"\u003ctask:success:discrete:True\u003e\nput an 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 an orange in the bowl\n\u003c/PRED\u003e","video":"11895285571227641148.mp4"}
+{"uid":"1282168805839610975","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput an 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:discriminative:discrete:True\u003e\nput an 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 an orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in the bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e","video":"8030015122665362937.mp4"}
+{"uid":"20370229737596954","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: adjust the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: adjust the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the bowl\n\u003c/PRED\u003e","video":"7178889961191191679.mp4"}
+{"uid":"4897495860209667637","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace mint box in an organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2617358394710487634.mp4"}
+{"uid":"5589977998807937450","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an 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:success:discrete:False\u003e\nput an 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":"8325239871093790527.mp4"}
+{"uid":"12581345669921530165","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":"10399321607840403561.mp4"}
+{"uid":"3460687381360246379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the four 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":"9182684785299086922.mp4"}
+{"uid":"18320333178908819608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13325820723046320831.mp4"}
+{"uid":"3100332043825361235","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl 6- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"12938645863665744338.mp4"}
+{"uid":"4554169107582406304","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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":"7059817587575877604.mp4"}
+{"uid":"5224372627316134098","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put an orange in the bowl 2- adjust the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput an 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 an orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put an orange in the bowl\n\u003c/PRED\u003e","video":"12181179449300633171.mp4"}
+{"uid":"8651535739879288251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18056144513418751355.mp4"}
+{"uid":"13173547249216708240","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- put the orange in the bowl 5- put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"3768349566054663491.mp4"}
+{"uid":"6433374527773006713","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put oranges into the bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange into bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put oranges into the bowl. last 20 steps: 1- put the orange in the bowl 2- put the orange in the bowl 3- adjust the bowl 4- put the orange in the bowl 5- put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange into bowl 2- put the orange in the bowl 3- put the orange in the bowl 4- done\n\u003c/PRED\u003e","video":"4172013736155763743.mp4"}
+{"uid":"6085733959739073154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the bottom 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":"9710988280343271785.mp4"}
+{"uid":"1065503666827281145","text":"\u003ctask:success:discrete:False\u003e\ndrop the packet in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16533080389331183910.mp4"}
+{"uid":"4231013190488906268","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6827738891764504895.mp4"}
+{"uid":"7239593425049205838","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput oatmeal pack 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":"17756251438843076077.mp4"}
+{"uid":"8743070582634362195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups on the top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17978275147516784232.mp4"}
+{"uid":"10368378298534660675","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- put the packet in the big white bowl 4- drop the packet in a bowl 5- put the packet in the big white bowl\n\u003c/PRED\u003e","video":"2475472537886319184.mp4"}
+{"uid":"10240675158762876682","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder 10- drop the fork in a pen holder 11- pick up the fork Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder 10- drop the fork in a pen holder 11- pick up the fork Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the stand 2- pick up the fork 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fork in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e","video":"6883720298804258140.mp4"}
+{"uid":"8969758625872694554","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in a bowl 2- put the packet in the big white bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7278042052153202859.mp4"}
+{"uid":"14519548886033914095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4986229610866869001.mp4"}
+{"uid":"7421226029728343021","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the fork in a pen holder 2- pick up the fork 3- put the fork in the stand 4- pick up the fork 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the fork in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder Q: immediate next step? \u003cPRED\u003eA: drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the fork in a pen holder\n\u003c/PRED\u003e","video":"9467947761745177835.mp4"}
+{"uid":"1223196018834037185","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder 10- drop the fork in a pen holder 11- pick up the fork 12- put the fork in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the fork 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the fork Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder 10- drop the fork in a pen holder 11- pick up the fork 12- put the fork in the stand Q: immediate next step? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the fork Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11948504779530373425.mp4"}
+{"uid":"10411651918710234472","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":"13479919078173383693.mp4"}
+{"uid":"12577429145042017125","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the snack packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the snack packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the snack packet in the bowl 2- drop the packet in a bowl 3- put the packet in the big white bowl 4- drop the packet in a bowl 5- put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the snack packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl Q: immediate next step? \u003cPRED\u003eA: put the snack packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the snack packet in the bowl\n\u003c/PRED\u003e","video":"13235752489675492606.mp4"}
+{"uid":"11184356973496912034","text":"\u003ctask:success:discrete:True\u003e\nput the snack packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the snack packet in the bowl\n\u003c/PRED\u003e","video":"14091394125839275137.mp4"}
+{"uid":"16008467604060826938","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":"17037649294579978203.mp4"}
+{"uid":"8260128681018471059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"4861450146979410791.mp4"}
+{"uid":"16193934192014572735","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the holder 2- drop the fork in a pen holder 3- pick up the fork 4- put the fork in the stand 5- pick up the fork\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 holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14179260891897787061.mp4"}
+{"uid":"14342649821173446648","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the big white bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the big white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e","video":"894284355135241937.mp4"}
+{"uid":"2868087921471720359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange 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":"9702127018495819368.mp4"}
+{"uid":"7709617596312158740","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the bowl 2- drop the packet in a bowl 3- put the packet in the big white bowl 4- drop the packet in a bowl 5- put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5185239220161572828.mp4"}
+{"uid":"3728961535317511233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"3970359892402481918.mp4"}
+{"uid":"15213224964059168040","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl Q: immediate next step? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the bowl 2- put the packet in the big white bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e","video":"1115550880305700082.mp4"}
+{"uid":"9363235482178358751","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- put the packet in the big white bowl 4- drop the packet in a bowl 5- put the packet in the big white bowl\n\u003c/PRED\u003e","video":"14787410786525526616.mp4"}
+{"uid":"1063410213128455185","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the fork in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder 10- drop the fork in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the fork in a pen holder 2- pick up the fork 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder 10- drop the fork in a pen holder Q: immediate next step? \u003cPRED\u003eA: drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the fork in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8037532735943172448.mp4"}
+{"uid":"14735455897550671813","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust 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":"18016496160219895268.mp4"}
+{"uid":"3369284300404714983","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- put the packet in the big white bowl 4- drop the fork in a pen holder 5- drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e","video":"13624236016396510726.mp4"}
+{"uid":"9538110640892163726","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic fork 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":"2903570739839813585.mp4"}
+{"uid":"8385069376826971293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18287954908052758340.mp4"}
+{"uid":"5233345738190528962","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic fork into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic fork into 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":"4016246074975039031.mp4"}
+{"uid":"14136037936956331602","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder 10- drop the fork in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the holder 2- pick up the fork 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder 10- drop the fork in a pen holder Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3803656274584870024.mp4"}
+{"uid":"13407489623655557409","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl Q: immediate next step? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the bowl 2- put the packet in the big white bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e","video":"5954077820271089829.mp4"}
+{"uid":"627867793192397190","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the fork Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder 10- drop the fork in a pen holder 11- pick up the fork 12- put the fork in the stand 13- pick up the fork Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder 10- drop the fork in a pen holder 11- pick up the fork 12- put the fork in the stand 13- pick up the fork Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8770596788478501262.mp4"}
+{"uid":"3035244101979322075","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the big white bowl 2- put the packet in the big white bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e","video":"6038961810112212891.mp4"}
+{"uid":"10774718808190713222","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":"11818649011218921214.mp4"}
+{"uid":"228157156237202176","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the fork in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18174847199721111755.mp4"}
+{"uid":"11755226288429473131","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":"192789448273906709.mp4"}
+{"uid":"5090616572440311081","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8969514340119397247.mp4"}
+{"uid":"2979632909019606787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the disinfectant wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12058191359404843190.mp4"}
+{"uid":"10198127632494240150","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7607835901020054548.mp4"}
+{"uid":"15104324814162485727","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen 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":"6279068588175555332.mp4"}
+{"uid":"3730925427537124757","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the big white bowl 2- put the packet in the big white bowl 3- drop the fork in a pen holder 4- drop the fork in a pen holder 5- pick up the fork\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e","video":"13442276613475639494.mp4"}
+{"uid":"8964155481898515810","text":"\u003ctask:success:discrete:False\u003e\nput the chip packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the chip packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl Q: immediate next step? \u003cPRED\u003eA: put the chip packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the chip packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the chip packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the chip packet in the bowl 2- drop the packet in a bowl 3- put the packet in the big white bowl 4- drop the fork in a pen holder 5- drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the chip packet in the bowl\n\u003c/PRED\u003e","video":"3177264658751128959.mp4"}
+{"uid":"15504513089162530082","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":"8474094226230404763.mp4"}
+{"uid":"12813802537999075062","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in a bowl 2- put the packet in the big white bowl 3- drop the fork in a pen holder 4- drop the fork in a pen holder 5- pick up the fork\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e","video":"1882113770321294289.mp4"}
+{"uid":"16912230519074709152","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red candy into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5761552423461118823.mp4"}
+{"uid":"11715773416826200027","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e","video":"15036453557547503600.mp4"}
+{"uid":"12395307653420759332","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":"2788210727214415534.mp4"}
+{"uid":"4509742870057815854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the  first aid 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":"14564180907747312236.mp4"}
+{"uid":"12387409141680020768","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the coffee cups 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":"7369560502221346165.mp4"}
+{"uid":"4144573649969947684","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12604112770910476760.mp4"}
+{"uid":"11580280519280398936","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1861003821667174084.mp4"}
+{"uid":"8112834363234268750","text":"\u003ctask:success:discrete:True\u003e\nput the fork in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e","video":"11100451488061787446.mp4"}
+{"uid":"2642867076313258195","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange packet 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":"10756869171528791399.mp4"}
+{"uid":"9921874077381687205","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the big white bowl 2- put the packet in the big white bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e","video":"957968675702173033.mp4"}
+{"uid":"185327575446163662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7041300482502121410.mp4"}
+{"uid":"2639682886251797940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the mouse on the 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":"17485558346549382608.mp4"}
+{"uid":"1854158863749249560","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the big white bowl 2- drop the packet in a bowl 3- put the packet in the big white bowl 4- drop the fork in a pen holder 5- drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e","video":"15888883322523424342.mp4"}
+{"uid":"7184529992605315691","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the stand 2- pick up the fork 3- put the fork in the stand 4- pick up the fork 5- done\n\u003c/PRED\u003e","video":"2595290122985668669.mp4"}
+{"uid":"3043862566298570456","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the big white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7126898576472123641.mp4"}
+{"uid":"6449461981808009426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange marker in the left glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10909012175490885259.mp4"}
+{"uid":"365906666035972450","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the bowl 2- drop the fork in a pen holder 3- drop the fork in a pen holder 4- pick up the fork 5- put the fork in the stand\n\u003c/PRED\u003e","video":"759010081985362353.mp4"}
+{"uid":"13135803909209058922","text":"\u003ctask:success:discrete:False\u003e\nput the fork in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the stand 2- drop the fork in a pen holder 3- pick up the fork 4- put the fork in the stand 5- pick up the fork\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e","video":"6704382460161046879.mp4"}
+{"uid":"7156861099036106373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2497178638576511700.mp4"}
+{"uid":"9464804881679693164","text":"\u003ctask:success:discrete:False\u003e\ndrop the fork in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the fork in a pen holder 2- drop the fork in a pen holder 3- pick up the fork 4- put the fork in the stand 5- pick up the fork\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the fork in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl Q: immediate next step? \u003cPRED\u003eA: drop the fork in a pen holder\n\u003c/PRED\u003e","video":"13450398688856041172.mp4"}
+{"uid":"14208291088395325929","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the big white bowl 2- drop the fork in a pen holder 3- drop the fork in a pen holder 4- pick up the fork 5- put the fork in the stand\n\u003c/PRED\u003e","video":"15105648816506659043.mp4"}
+{"uid":"7250099465686896744","text":"\u003ctask:success:discrete:True\u003e\nput the fork in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e","video":"3148045193957722227.mp4"}
+{"uid":"8812206560206207758","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the big white bowl 2- drop the packet in a bowl 3- put the packet in the big white bowl 4- drop the packet in a bowl 5- put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e","video":"13945644484556104004.mp4"}
+{"uid":"5476926961291240158","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9569652995033778432.mp4"}
+{"uid":"12625573572892257533","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the big white bowl 2- drop the packet in a bowl 3- put the packet in the big white bowl 4- drop the packet in a bowl 5- put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e","video":"11467645334348549248.mp4"}
+{"uid":"10095985288203143123","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":"11801546101053650699.mp4"}
+{"uid":"1325976109753778787","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the big white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17948884073303653865.mp4"}
+{"uid":"8086258598499703229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy in the glass cage Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"742041122558343937.mp4"}
+{"uid":"12462559546140046517","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the wire box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15215795933414512877.mp4"}
+{"uid":"14143200343709185780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7626927864378157587.mp4"}
+{"uid":"6016136001279815345","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the snack packet in the bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the snack packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the snack packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the snack packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the snack packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the snack packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the snack packet in the bowl\n\u003c/PRED\u003e","video":"2171489503900490498.mp4"}
+{"uid":"6818570567157693242","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":"5988305239902163026.mp4"}
+{"uid":"1645724506240248565","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the big white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e","video":"1929082196591659723.mp4"}
+{"uid":"9055464988258321483","text":"\u003ctask:success:discrete:True\u003e\ndrop the fork in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the fork in a pen holder\n\u003c/PRED\u003e","video":"8869656476424973181.mp4"}
+{"uid":"8176590497656556068","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic fork into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic fork into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork into the holder 2- pick up the fork 3- put the fork in the stand 4- pick up the fork 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the plastic fork into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder Q: immediate next step? \u003cPRED\u003eA: put the plastic fork into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic fork into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic fork into the holder\n\u003c/PRED\u003e","video":"15324714555508711830.mp4"}
+{"uid":"865678803398100956","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet 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":"6721242176516789774.mp4"}
+{"uid":"2912140660086388550","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the top left drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1798589225403614223.mp4"}
+{"uid":"7632184864551048405","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the iced tea can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9831190048456593163.mp4"}
+{"uid":"7888973046032953401","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the bowl 2- put the packet in the big white bowl 3- drop the fork in a pen holder 4- drop the fork in a pen holder 5- pick up the fork\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e","video":"15476777647951954953.mp4"}
+{"uid":"2305170557510579884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm away from 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":"4430687075290081630.mp4"}
+{"uid":"13618962523708124821","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in a bowl 2- drop the fork in a pen holder 3- drop the fork in a pen holder 4- pick up the fork 5- put the fork in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e","video":"6272120853370285018.mp4"}
+{"uid":"4418917200746956020","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in a bowl 2- put the packet in the big white bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16680450450235502500.mp4"}
+{"uid":"17426231877203743145","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in a bowl\n\u003c/PRED\u003e","video":"13281827777034669031.mp4"}
+{"uid":"14497868976973755932","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the big white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the big white bowl\n\u003c/PRED\u003e","video":"9892139274395190625.mp4"}
+{"uid":"5743658462345100767","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the fork in a pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the fork in a pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7976301412863740378.mp4"}
+{"uid":"881239067245792570","text":"\u003ctask:success:discrete:False\u003e\npick up the fork Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 fork\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder 10- drop the fork in a pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the fork 2- put the fork in the stand 3- pick up the fork 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- drop the packet in a bowl 2- drop the packet in a bowl 3- drop the packet in a bowl 4- put the packet in the big white bowl 5- drop the packet in a bowl 6- put the packet in the big white bowl 7- drop the packet in a bowl 8- put the packet in the big white bowl 9- drop the fork in a pen holder 10- drop the fork in a pen holder Q: immediate next step? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the fork\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the fork Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16378571641982616606.mp4"}
+{"uid":"17177727533758860364","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop banana on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop banana on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: drop banana on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table 6- place an apple on the table 7- place an apple on table Q: immediate next step? \u003cPRED\u003eA: drop banana on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table 6- place an apple on the table 7- place an apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- drop banana on table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop banana on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop banana on table\n\u003c/PRED\u003e","video":"2227755622297071461.mp4"}
+{"uid":"2465013409713356735","text":"\u003ctask:success:discrete:True\u003e\nplace an apple on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an apple on table\n\u003c/PRED\u003e","video":"2421754572080007734.mp4"}
+{"uid":"4184965187329902348","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place an apple on table 3- place an apple on the table 4- place an apple on table 5- place the banana on the table\n\u003c/PRED\u003e","video":"10203031253388276822.mp4"}
+{"uid":"17050908562001937148","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: drop orange on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange on table 2- place an apple on the table 3- place an apple on table 4- place the banana on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table Q: immediate next step? \u003cPRED\u003eA: drop orange on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9321183518022313489.mp4"}
+{"uid":"10242880120806123349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the sticky notes 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":"4466210281714991677.mp4"}
+{"uid":"4735519790148760097","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple on table 2- place an apple on table 3- place the banana on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop apple on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table Q: immediate next step? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e","video":"10260091117610158808.mp4"}
+{"uid":"15883395485138958491","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: drop orange on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange on table 2- place an apple on table 3- place an apple on the table 4- place an apple on table 5- place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table Q: immediate next step? \u003cPRED\u003eA: drop orange on table\n\u003c/PRED\u003e","video":"14761997740855283689.mp4"}
+{"uid":"5194817215794198350","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace an apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5749426605075562772.mp4"}
+{"uid":"5384998220646799549","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table 6- place an apple on the table 7- place an apple on table 8- place the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table 6- place an apple on the table 7- place an apple on table 8- place the banana 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 banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5837637742843829213.mp4"}
+{"uid":"523462155765384785","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple on table 2- place the banana on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table Q: immediate next step? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e","video":"14147390352627653314.mp4"}
+{"uid":"13835980195244240089","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place an apple on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table Q: immediate next step? \u003cPRED\u003eA: place an apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an apple on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple on table 2- place an apple on the table 3- place an apple on table 4- place the banana on the table 5- done\n\u003c/PRED\u003e","video":"15435616865812196193.mp4"}
+{"uid":"8881915960107084125","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple on table 2- place an orange on table 3- place an orange on the table 4- place an apple on table 5- place an apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop apple on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e","video":"2745805493973664948.mp4"}
+{"uid":"16898325132045678927","text":"\u003ctask:success:discrete:True\u003e\ndrop apple 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: drop apple on table\n\u003c/PRED\u003e","video":"11546177674560817024.mp4"}
+{"uid":"16015323276430594568","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":"9399142595007377419.mp4"}
+{"uid":"7002271099794522494","text":"\u003ctask:success:discrete:False\u003e\nplace an apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple on the table 2- place an apple on table 3- place the banana on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place an apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table Q: immediate next step? \u003cPRED\u003eA: place an apple on the table\n\u003c/PRED\u003e","video":"5641543305139782779.mp4"}
+{"uid":"5164099661730493447","text":"\u003ctask:success:discrete:True\u003e\ndrop apple 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: drop apple on table\n\u003c/PRED\u003e","video":"18184700855379630436.mp4"}
+{"uid":"7939663427922406172","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"440599163480209075.mp4"}
+{"uid":"6828882608486304990","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"7026769170509119408.mp4"}
+{"uid":"2908049977112685382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nset the pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"333443609526753955.mp4"}
+{"uid":"2375943002762611066","text":"\u003ctask:success:discrete:True\u003e\ndrop apple 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: drop apple on table\n\u003c/PRED\u003e","video":"12474108406593264540.mp4"}
+{"uid":"9078461097416065146","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place an apple on table 3- place the banana on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7453439914508869468.mp4"}
+{"uid":"5590990840663799376","text":"\u003ctask:success:discrete:True\u003e\ndrop apple 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: drop apple on table\n\u003c/PRED\u003e","video":"12068107451902718697.mp4"}
+{"uid":"7635489703999053053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink 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":"9396099399431916471.mp4"}
+{"uid":"1116838646812348873","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table 6- place an apple on the table 7- place an apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table 6- place an apple on the table 7- place an apple on table Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"697106113352107962.mp4"}
+{"uid":"11154629114585701464","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table 6- place an apple on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table 6- place an apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the banana on the table 3- done\n\u003c/PRED\u003e","video":"17170888967356609994.mp4"}
+{"uid":"7698884176160404858","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":"7359052060052225560.mp4"}
+{"uid":"12072036374690803238","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pip corn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9799724503893929357.mp4"}
+{"uid":"11901967725742947276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15765022364316433476.mp4"}
+{"uid":"4077721166600967395","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace toffee in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7458321674052889169.mp4"}
+{"uid":"12542917652498978459","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place an orange on table 3- place an orange on the table 4- place an apple on table 5- place an apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"6250473665414198275.mp4"}
+{"uid":"743000244765651260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a ROLD GORLD 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":"4091377537282135169.mp4"}
+{"uid":"5992013957922748243","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":"6603086944376546248.mp4"}
+{"uid":"14535456953902783498","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table 6- place an apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple on table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table 6- place an apple on the table Q: immediate next step? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e","video":"7115609451693611826.mp4"}
+{"uid":"15772700158324498739","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio 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":"2661933482840181396.mp4"}
+{"uid":"9895297398094808481","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table Q: immediate next step? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table Q: next 5 steps? \u003cPRED\u003eA: 1- place an orange on the table 2- place an apple on table 3- place an apple on the table 4- place an apple on table 5- place the banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17964110906248394415.mp4"}
+{"uid":"15604849545009157148","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table 6- place an apple on the table 7- drop apple on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop apple 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: drop apple on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table 6- place an apple on the table 7- drop apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"14902327792442340404.mp4"}
+{"uid":"764984720141061394","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10627818036489134772.mp4"}
+{"uid":"2336929746497664974","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place an apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table Q: immediate next step? \u003cPRED\u003eA: place an apple on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an apple on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple on table 2- place an orange on table 3- place an orange on the table 4- place an apple on table 5- place an apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple 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 an apple on table\n\u003c/PRED\u003e","video":"10918985398074891.mp4"}
+{"uid":"8468174881417969772","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":"15897367283624062938.mp4"}
+{"uid":"899169402358375614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the green glass from the floor. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2609699787287982044.mp4"}
+{"uid":"3010033497551131293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17914481405249326193.mp4"}
+{"uid":"15322135014644566949","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":"4997071223861470199.mp4"}
+{"uid":"6433637605759404748","text":"\u003ctask:success:discrete:False\u003e\nplace an apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place an apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place an apple on the table\n\u003c/PRED\u003e","video":"6516478073503811714.mp4"}
+{"uid":"3069747912328484728","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table Q: immediate next step? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple 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: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple on table 2- place an orange on table 3- place an orange on the table 4- place an apple on table 5- place an apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple on table\n\u003c/PRED\u003e","video":"1203869815939207786.mp4"}
+{"uid":"9634678127592676497","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace an orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5460019805038128629.mp4"}
+{"uid":"12294571250977331077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5256818376770338972.mp4"}
+{"uid":"4151815967558463743","text":"\u003ctask:success:discrete:True\u003e\nplace an apple on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an apple on table\n\u003c/PRED\u003e","video":"11773993558323285911.mp4"}
+{"uid":"3145092920837842260","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place an apple on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table 6- place an apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple on table 2- place the banana on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an apple on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table 6- place an apple on the table Q: immediate next step? \u003cPRED\u003eA: place an apple on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple on table\n\u003c/PRED\u003e","video":"12426867616376523440.mp4"}
+{"uid":"5660634608973656519","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17200982806830530246.mp4"}
+{"uid":"7469245571371746762","text":"\u003ctask:success:discrete:True\u003e\nplace an apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an apple on the table\n\u003c/PRED\u003e","video":"9664338608416130032.mp4"}
+{"uid":"961156443005128757","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a 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":"1020726572495938536.mp4"}
+{"uid":"9948912365563294394","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table 4- place an orange on the table 5- place an apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place an apple on table 3- place the banana on the table 4- done\n\u003c/PRED\u003e","video":"5798722665480320836.mp4"}
+{"uid":"10036194934257887800","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":"1520440824773327865.mp4"}
+{"uid":"7324802422650548751","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table Q: immediate next step? \u003cPRED\u003eA: place an orange on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an orange on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table Q: next 5 steps? \u003cPRED\u003eA: 1- place an orange on table 2- place an orange on the table 3- place an apple on table 4- place an apple on the table 5- place an apple on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an orange on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place an orange on table\n\u003c/PRED\u003e","video":"13762493931619132196.mp4"}
+{"uid":"4723382264178515327","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":"17911463734402504118.mp4"}
+{"uid":"16774319151903691841","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- place an apple on the table 2- place an apple on table 3- place an orange on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place an apple on table 3- place an apple on the table 4- place an apple on table 5- place the banana on the table\n\u003c/PRED\u003e","video":"4867311485672184318.mp4"}
+{"uid":"4208470641251221139","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a toffee in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13194554782029768059.mp4"}
+{"uid":"743399122233153348","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an apple on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace an apple 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":"3423521330571160557.mp4"}
+{"uid":"4594273750185103011","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get me some cups please Q: immediate next step? \u003cPRED\u003eA: pick the paper cups from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the paper cups from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the paper cups from the floor 2- place the paper cups on the floor 3- grab a paper cup 4- release the paper cup 5- lift the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the paper cups from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table Q: immediate next step? \u003cPRED\u003eA: pick the paper cups from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the paper cups from the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the paper cups from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6846262767263439298.mp4"}
+{"uid":"9426924209418340054","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper cups 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:success:discrete:False\u003e\nplace the paper cups 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper cups on the floor 2- grab a paper cup 3- release the paper cup 4- lift the paper cup 5- place the paper cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me some cups please Q: immediate next step? \u003cPRED\u003eA: place the paper cups on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the paper cups on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper cups on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor Q: immediate next step? \u003cPRED\u003eA: place the paper cups on the floor\n\u003c/PRED\u003e","video":"13943669863054308925.mp4"}
+{"uid":"13468476825158869424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace coke can in fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"978657341320358211.mp4"}
+{"uid":"5893936031012471390","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper clips on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper clips on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table Q: immediate next step? \u003cPRED\u003eA: Put the paper clips on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper clips on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 binder clips from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the paper clips on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper clips on the table 2- Put the paper clip on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clip on the table\n\u003c/PRED\u003e","video":"2225391755491285339.mp4"}
+{"uid":"5480247183259041944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the game board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15991809938550865538.mp4"}
+{"uid":"10154263770125806839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue 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":"10244567173162113805.mp4"}
+{"uid":"8006207925582761838","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":"4543388646460289611.mp4"}
+{"uid":"8557802643471237814","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clips on the table 6- Put the paper clip on the table 7- Put the paper clip on the table 8- Put the paper clips on the table 9- Put the paper clip on the table 10- Put the paper clip on the table 11- Put the paper clip on the table Q: immediate next step? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clips on the table 6- Put the paper clip on the table 7- Put the paper clip on the table 8- Put the paper clips on the table 9- Put the paper clip on the table 10- Put the paper clip on the table 11- Put the paper clip on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper clip on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14156185297591322488.mp4"}
+{"uid":"9160110396325602957","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor 5- place the paper cups on the floor 6- grab a paper cup 7- release the paper cup 8- lift the paper cup 9- place the paper cup on the table 10- pick the paper cup from the glass table Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper cup on the glass table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper cup on the glass table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me some cups please Q: immediate next step? \u003cPRED\u003eA: place the paper cup on the glass table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor 5- place the paper cups on the floor 6- grab a paper cup 7- release the paper cup 8- lift the paper cup 9- place the paper cup on the table 10- pick the paper cup from the glass table Q: immediate next step? \u003cPRED\u003eA: place the paper cup on the glass table\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 glass table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper cup on the glass table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 paper cup on the glass table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1785105527744619649.mp4"}
+{"uid":"13608714326060045977","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab a bowl and scoop mixed nuts into the bowl. last 20 steps: 1- pick up the tissue 2- spread the tissue on the table 3- wipe the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please grab a bowl and scoop mixed nuts into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: wipe the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab a bowl and scoop mixed nuts into the bowl. last 20 steps: 1- pick up the tissue 2- spread the tissue on the table 3- wipe the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\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","video":"1445216929686993756.mp4"}
+{"uid":"9905787021648464001","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the can 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":"5156459389308745923.mp4"}
+{"uid":"9800103971248184980","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab a bowl and scoop mixed nuts into the bowl. last 20 steps: 1- pick up the tissue 2- spread the tissue on the table Q: immediate next step? \u003cPRED\u003eA: wipe 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:planning:freeform\u003e\ncurrent goal is: Please grab a bowl and scoop mixed nuts into the bowl Q: immediate next step? \u003cPRED\u003eA: wipe the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: wipe the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: wipe the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab a bowl and scoop mixed nuts into the bowl. last 20 steps: 1- pick up the tissue 2- spread the tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- wipe the table 2- done\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","video":"10160792800539800314.mp4"}
+{"uid":"14951684534619498209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9466447683799131618.mp4"}
+{"uid":"3422321342571190499","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the paper cups from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the paper cups from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8766655942636759723.mp4"}
+{"uid":"15614227639528189063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12773282386136447493.mp4"}
+{"uid":"8133975060143208167","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper clips on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clips on the table 6- Put the paper clip on the table 7- Put the paper clip on the table Q: immediate next step? \u003cPRED\u003eA: Put the paper clips on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the paper clips on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clips on the table 6- Put the paper clip on the table 7- Put the paper clip on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper clips on the table 2- Put the paper clip on the table 3- Put the paper clip on the table 4- Put the paper clip on the table 5- Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper clips on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 paper clips 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 paper clips on the table\n\u003c/PRED\u003e","video":"7503006428859931042.mp4"}
+{"uid":"5409998772204538352","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: spread the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nspread 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","video":"10867347868129406515.mp4"}
+{"uid":"6099414997249559132","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12075165455171829865.mp4"}
+{"uid":"11279481375194407453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9899490799195064916.mp4"}
+{"uid":"6465557638798093811","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":"11251034297615793198.mp4"}
+{"uid":"15922704582490255993","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper clips on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table Q: immediate next step? \u003cPRED\u003eA: Put the paper clips on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper clips on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper clips on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 binder clips from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the paper clips on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clip on the table 4- Put the paper clips on the table 5- Put the paper clip on the table\n\u003c/PRED\u003e","video":"2521561118111134656.mp4"}
+{"uid":"14108854387598076660","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the paper cup from the glass table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the paper cup from the glass table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor 5- place the paper cups on the floor 6- grab a paper cup 7- release the paper cup 8- lift the paper cup 9- place the paper cup on the table Q: immediate next step? \u003cPRED\u003eA: pick the paper cup from the glass table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the paper cup from the glass table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 paper cup from the glass table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor 5- place the paper cups on the floor 6- grab a paper cup 7- release the paper cup 8- lift the paper cup 9- place the paper cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the paper cup from the glass table 2- place the paper cup on the glass table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me some cups please Q: immediate next step? \u003cPRED\u003eA: pick the paper cup from the glass table\n\u003c/PRED\u003e","video":"9571462338206785189.mp4"}
+{"uid":"4565691001595169084","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get me some cups please Q: immediate next step? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- move forward 2- put the paper cup on the table 3- pick the paper cups from the floor 4- place the paper cups on the floor 5- grab a paper cup\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: get me some cups please. last 20 steps: 1- pick the paper cup Q: immediate next step? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e","video":"9526614757077971907.mp4"}
+{"uid":"5401123613101732202","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clips on the table 6- Put the paper clip on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper clip on the table 2- Put the paper clips on the table 3- Put the paper clip on the table 4- Put the paper clip on the table 5- Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clips on the table 6- Put the paper clip on the table Q: immediate next step? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e","video":"17973898011789915906.mp4"}
+{"uid":"15948731346637968156","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white and green chips packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5826992319437164887.mp4"}
+{"uid":"12833133797352020769","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clips on the table 6- Put the paper clip on the table 7- Put the paper clip on the table 8- Put the paper clips on the table 9- Put the paper clip on the table 10- Put the paper clip on the table Q: immediate next step? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clips on the table 6- Put the paper clip on the table 7- Put the paper clip on the table 8- Put the paper clips on the table 9- Put the paper clip on the table 10- Put the paper clip on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper clip on the table 2- Put the paper clip on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e","video":"16521064218134954479.mp4"}
+{"uid":"8811043476363924616","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor 5- place the paper cups on the floor 6- grab a paper cup 7- release the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- lift the paper cup 2- place the paper cup on the table 3- pick the paper cup from the glass table 4- place the paper cup on the glass table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me some cups please Q: immediate next step? \u003cPRED\u003eA: lift the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift 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: lift the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift 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: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor 5- place the paper cups on the floor 6- grab a paper cup 7- release the paper cup Q: immediate next step? \u003cPRED\u003eA: lift the paper cup\n\u003c/PRED\u003e","video":"14612447014011725651.mp4"}
+{"uid":"7184801958127011244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"14902633983202095617.mp4"}
+{"uid":"4071327075491160535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker 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":"9894275763813650146.mp4"}
+{"uid":"1127792295859351041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop nut 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":"15962266101079148769.mp4"}
+{"uid":"6022151391856487813","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown 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":"10038408005447454901.mp4"}
+{"uid":"13676200626731391172","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"8542430439861295670.mp4"}
+{"uid":"4176057456989158583","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the paper cup from the glass table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the paper cup from the glass 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":"3820355684884251301.mp4"}
+{"uid":"18268316321202902533","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":"15249561703975089666.mp4"}
+{"uid":"17333549287483610826","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get me some cups please Q: immediate next step? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper cup on the table 2- pick the paper cups from the floor 3- place the paper cups on the floor 4- grab a paper cup 5- release the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward Q: immediate next step? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e","video":"15607014542873537472.mp4"}
+{"uid":"17650642057729335470","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14215404300137091606.mp4"}
+{"uid":"11019704875639611225","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nlift up the right black pen from 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":"12851723885558604748.mp4"}
+{"uid":"17916960462544944899","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor 5- place the paper cups on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick 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\npick 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: get me some cups please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me some cups please Q: immediate next step? \u003cPRED\u003eA: pick the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the paper cup\n\u003c/PRED\u003e","video":"765258620830212547.mp4"}
+{"uid":"14239127302503179046","text":"\u003ctask:success:discrete:True\u003e\ngrab a 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: grab a paper cup\n\u003c/PRED\u003e","video":"7398221673942785969.mp4"}
+{"uid":"10017192912333550809","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10460711452684671977.mp4"}
+{"uid":"13881838255888818000","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor 5- place the paper cups on the floor 6- grab a paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- release the paper cup 2- lift the paper cup 3- place the paper cup on the table 4- pick the paper cup from the glass table 5- place the paper cup on the glass table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me some cups please Q: immediate next step? \u003cPRED\u003eA: release the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease 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: release the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor 5- place the paper cups on the floor 6- grab a paper cup Q: immediate next step? \u003cPRED\u003eA: release the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease 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":"2238478159630321863.mp4"}
+{"uid":"9768844448019589445","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":"14149454304561498943.mp4"}
+{"uid":"2620500900153147791","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic 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":"13137166735601507144.mp4"}
+{"uid":"5493462142250494390","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the paper clip 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 binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clips on the table 6- Put the paper clip on the table 7- Put the paper clip on the table 8- Put the paper clips on the table Q: immediate next step? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 binder clips from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clips on the table 6- Put the paper clip on the table 7- Put the paper clip on the table 8- Put the paper clips on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper clip on the table 2- Put the paper clip on the table 3- Put the paper clip on the table 4- Put the paper clip on the table 5- done\n\u003c/PRED\u003e","video":"18247070673332013791.mp4"}
+{"uid":"14540766572677405254","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: lift the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nlift 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":"7441535798944953026.mp4"}
+{"uid":"15906195741179051628","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab a bowl and scoop mixed nuts into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab a bowl and scoop mixed nuts into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tissue 2- wipe 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 tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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 up 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: Please grab a bowl and scoop mixed nuts into the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the tissue\n\u003c/PRED\u003e","video":"4099436742518508237.mp4"}
+{"uid":"3730653740795548532","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clips on the table Q: immediate next step? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the paper clip 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 paper clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clips on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper clip on the table 2- Put the paper clip on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e","video":"15110856163864241094.mp4"}
+{"uid":"2319642508443285911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13753176904465677213.mp4"}
+{"uid":"6545703133209346029","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the paper cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18329006291094536998.mp4"}
+{"uid":"6051948743495654715","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nspread 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: Please grab a bowl and scoop mixed nuts into the bowl Q: immediate next step? \u003cPRED\u003eA: spread the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nspread 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: spread the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: spread the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab a bowl and scoop mixed nuts into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- spread the tissue on the table 2- wipe the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please grab a bowl and scoop mixed nuts into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: spread the tissue on the table\n\u003c/PRED\u003e","video":"15792531078019540444.mp4"}
+{"uid":"8649775424368829354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bunch of plastic butter knifes 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":"9275173199342116263.mp4"}
+{"uid":"3155250062643329832","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get me some cups please Q: immediate next step? \u003cPRED\u003eA: place the paper cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor 5- place the paper cups on the floor 6- grab a paper cup 7- release the paper cup 8- lift the paper cup Q: immediate next step? \u003cPRED\u003eA: place the paper cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the paper cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor 5- place the paper cups on the floor 6- grab a paper cup 7- release the paper cup 8- lift the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper cup on the table 2- pick the paper cup from the glass table 3- place the paper cup on the glass table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the paper 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:affordance:discriminative:discrete:True\u003e\nplace the paper 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","video":"1682661196134991770.mp4"}
+{"uid":"16929101282583936242","text":"\u003ctask:success:discrete:True\u003e\nplace the paper cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the paper cup on the table\n\u003c/PRED\u003e","video":"1177134011688540760.mp4"}
+{"uid":"11549607151770882408","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor 5- place the paper cups on the floor 6- grab a paper cup 7- release the paper cup 8- lift the paper cup 9- place the paper cup on the table 10- pick the paper cup from the glass table 11- place the paper cup on the glass table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the paper cup on the glass 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: get me some cups please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor 5- place the paper cups on the floor 6- grab a paper cup 7- release the paper cup 8- lift the paper cup 9- place the paper cup on the table 10- pick the paper cup from the glass table 11- place the paper cup on the glass 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 paper cup on the glass table\n\u003c/PRED\u003e","video":"2390209158993884694.mp4"}
+{"uid":"2775258209720625116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4858650042889326651.mp4"}
+{"uid":"8603994886242781446","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clips on the table 6- Put the paper clip on the table 7- Put the paper clip on the table 8- Put the paper clips on the table 9- Put the paper clip on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper clip on the table 2- Put the paper clip on the table 3- Put the paper clip 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 paper clip on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table 5- Put the paper clips on the table 6- Put the paper clip on the table 7- Put the paper clip on the table 8- Put the paper clips on the table 9- Put the paper clip on the table Q: immediate next step? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e","video":"16359533731316163835.mp4"}
+{"uid":"4791565982109000046","text":"\u003ctask:success:discrete:False\u003e\nPut the paper clip 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 paper clip on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper clip on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table Q: immediate next step? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper clip on the table 2- Put the paper clips on the table 3- Put the paper clip on the table 4- Put the paper clip on the table 5- Put the paper clips on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the paper clip on the table\n\u003c/PRED\u003e","video":"10518233088705121142.mp4"}
+{"uid":"12101684086171727677","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":"14157884667630958658.mp4"}
+{"uid":"17106059577164468689","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper clips on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper clips on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the paper clips 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 binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table Q: immediate next step? \u003cPRED\u003eA: Put the paper clips on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the binder clips from the bowl . last 20 steps: 1- Put the paper clips on the table 2- Put the paper clips on the table 3- Put the paper clips on the table 4- Put the paper clip on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper clips on the table 2- Put the paper clip on the table 3- Put the paper clip on the table 4- Put the paper clips on the table 5- Put the paper clip on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper clips on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 binder clips from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the paper clips on the table\n\u003c/PRED\u003e","video":"5274193100101681045.mp4"}
+{"uid":"7502124647172179417","text":"\u003ctask:success:discrete:False\u003e\ngrab a 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\ngrab a 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: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor 5- place the paper cups on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- grab a paper cup 2- release the paper cup 3- lift the paper cup 4- place the paper cup on the table 5- pick the paper cup from the glass table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab a paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab a paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get me some cups please Q: immediate next step? \u003cPRED\u003eA: grab a paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get me some cups please. last 20 steps: 1- pick the paper cup 2- move forward 3- put the paper cup on the table 4- pick the paper cups from the floor 5- place the paper cups on the floor Q: immediate next step? \u003cPRED\u003eA: grab a paper cup\n\u003c/PRED\u003e","video":"5912397164686054280.mp4"}
+{"uid":"4255784230286930113","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: release the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nrelease 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":"10605889893824677929.mp4"}
+{"uid":"10043179309429568273","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid on the existing lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12687290617317142059.mp4"}
+{"uid":"6629494910386151231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17760095763177924694.mp4"}
+{"uid":"8043469298799315167","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":"8216096993807106878.mp4"}
+{"uid":"1885954145636577839","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put back the dry erase markers back on the whiteboard tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put back the dry erase markers back on the whiteboard tray. last 20 steps: 1- place the marker on the board edge 2- place the marker on the board edge 3- place the marker on the board edge 4- place the marker on the board edge 5- place the marker on the board edge Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the marker on the board edge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 back the dry erase markers back on the whiteboard tray. last 20 steps: 1- place the marker on the board edge 2- place the marker on the board edge 3- place the marker on the board edge 4- place the marker on the board edge 5- place the marker on the board edge Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6450764345896861396.mp4"}
+{"uid":"14910919604445837905","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tray of candies in the right of 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":"17290152308898040365.mp4"}
+{"uid":"8302824799274027514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange into white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16171395011953213017.mp4"}
+{"uid":"13727924890611620943","text":"\u003ctask:success:discrete:False\u003e\nplace the marker on the board edge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 back the dry erase markers back on the whiteboard tray Q: immediate next step? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on the board edge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 marker on the board edge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put back the dry erase markers back on the whiteboard tray. last 20 steps: 1- place the marker on the board edge Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the board edge 2- place the marker on the board edge 3- place the marker on the board edge 4- place the marker on the board edge 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put back the dry erase markers back on the whiteboard tray. last 20 steps: 1- place the marker on the board edge Q: immediate next step? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e","video":"8930938653465164690.mp4"}
+{"uid":"1138215946779910234","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the oreo packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the oreo packet 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 all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the oreo packet in the drawer 2- Put the tetra pack in the drawer 3- Put the orange in the drawer 4- Put the oreo packet in the drawer 5- Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e","video":"16699403043842813198.mp4"}
+{"uid":"3884242829692062133","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the tetra pack in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tetra pack in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tetra pack in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tetra pack in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the tetra pack in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tetra pack in the drawer 2- Put the orange in the drawer 3- Put the oreo packet in the drawer 4- Put the oreo packet in the drawer 5- Put the can in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tetra pack in the drawer\n\u003c/PRED\u003e","video":"14963133541187767109.mp4"}
+{"uid":"12254096914284002466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab 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":"4212904601361198516.mp4"}
+{"uid":"3352183668401193084","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on the board edge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 marker on the board edge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put back the dry erase markers back on the whiteboard tray Q: immediate next step? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker on the board edge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 back the dry erase markers back on the whiteboard tray. last 20 steps: 1- place the marker on the board edge 2- place the marker on the board edge 3- place the marker on the board edge Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the board edge 2- place the marker on the board edge 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put back the dry erase markers back on the whiteboard tray. last 20 steps: 1- place the marker on the board edge 2- place the marker on the board edge 3- place the marker on the board edge Q: immediate next step? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e","video":"223653191629335032.mp4"}
+{"uid":"9092368515074302846","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the can in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer 6- Put the oreo packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the can in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can 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 all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer 6- Put the oreo packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can 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":"17171941727864995589.mp4"}
+{"uid":"3406537627364189769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5363026405208541526.mp4"}
+{"uid":"3624260640540198006","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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 all the items into the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer\n\u003c/PRED\u003e","video":"12061560317340048076.mp4"}
+{"uid":"10039871433370385816","text":"\u003ctask:success:discrete:True\u003e\nplace the marker on the board edge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 marker on the board edge\n\u003c/PRED\u003e","video":"17741603858709626709.mp4"}
+{"uid":"7282536115540717944","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":"17649447762607611515.mp4"}
+{"uid":"2001143570068644783","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet 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 all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the drawer 2- Put the tetra pack in the drawer 3- Put the orange in the drawer 4- Put the oreo packet in the drawer 5- Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e","video":"14678027552141178064.mp4"}
+{"uid":"5082719098186859926","text":"\u003ctask:success:discrete:False\u003e\nput tetra pack 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 all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put tetra pack in the drawer 2- Put the orange in the drawer 3- Put the oreo packet in the drawer 4- Put the oreo packet in the drawer 5- Put the can in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: put tetra pack in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put tetra pack in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tetra pack in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tetra pack 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 tetra pack in the drawer\n\u003c/PRED\u003e","video":"5404889244463704909.mp4"}
+{"uid":"12717635568326863185","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the marker on the board edge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2181794948346681150.mp4"}
+{"uid":"8107252925851136188","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker on the board edge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on the board edge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 back the dry erase markers back on the whiteboard tray. last 20 steps: 1- place the marker on the board edge 2- place the marker on the board edge Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the board edge 2- place the marker on the board edge 3- place the marker on the board edge 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put back the dry erase markers back on the whiteboard tray Q: immediate next step? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put back the dry erase markers back on the whiteboard tray. last 20 steps: 1- place the marker on the board edge 2- place the marker on the board edge Q: immediate next step? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e","video":"4138601440905465790.mp4"}
+{"uid":"7869643978890171331","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet 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 all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- Put the oreo packet in the drawer 3- Put the can in the drawer 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"12827543650703720015.mp4"}
+{"uid":"11037690996457118403","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet 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":"8411592061071820969.mp4"}
+{"uid":"12003408077542560933","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet 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 packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet 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 all the items into the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e","video":"12461531399916676161.mp4"}
+{"uid":"16059878965847562766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the left column of the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14079532330300426181.mp4"}
+{"uid":"12403769598714969562","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet 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: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the drawer 2- Put the can in the drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e","video":"7063327019404665565.mp4"}
+{"uid":"6489805579435749165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace spoon on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17573772556555543679.mp4"}
+{"uid":"591564754550613815","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the oreo packet in the drawer 2- Put the oreo packet in the drawer 3- Put the can in the drawer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the oreo packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the oreo packet 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":"14250717610184223892.mp4"}
+{"uid":"11104918922476511668","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet 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 place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet in the drawer 2- Put the oreo packet in the drawer 3- Put the can in the drawer 4- done\n\u003c/PRED\u003e","video":"14763804431695638072.mp4"}
+{"uid":"8333953319334018546","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the left glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9953766244714129353.mp4"}
+{"uid":"1600302968155794575","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the marker on the board edge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12792396779548095517.mp4"}
+{"uid":"10568189532457012630","text":"\u003ctask:success:discrete:True\u003e\nput packet 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 packet in the drawer\n\u003c/PRED\u003e","video":"9491311442718743389.mp4"}
+{"uid":"14888661246776135098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the can from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7817140415705617830.mp4"}
+{"uid":"6304348271229715329","text":"\u003ctask:success:discrete:True\u003e\nPut the can 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer 6- Put the oreo packet in the drawer 7- Put the can in the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer 6- Put the oreo packet in the drawer 7- Put the can in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8130941986279838514.mp4"}
+{"uid":"15182116024349872794","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- Put the tetra pack in the drawer 3- Put the orange in the drawer 4- Put the oreo packet in the drawer 5- Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"548074701159478444.mp4"}
+{"uid":"7333414509301580899","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the drawer 2- Put the oreo packet in the drawer 3- Put the oreo packet in the drawer 4- Put the can in the drawer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e","video":"2503522561115535219.mp4"}
+{"uid":"9012367902132940497","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":"13517079525755043124.mp4"}
+{"uid":"9552622622119583146","text":"\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","video":"7869411115092434267.mp4"}
+{"uid":"11341791614293927523","text":"\u003ctask:success:discrete:False\u003e\nput orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the drawer 2- Put the oreo packet in the drawer 3- Put the oreo packet in the drawer 4- Put the can in the drawer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: put orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer Q: immediate next step? \u003cPRED\u003eA: put orange in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the drawer\n\u003c/PRED\u003e","video":"4238757236520408235.mp4"}
+{"uid":"8477449926074201562","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":"2564272621346121786.mp4"}
+{"uid":"4060688883382663149","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the oreo packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the oreo packet 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 place all the items into the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer\n\u003c/PRED\u003e","video":"9203535284381481101.mp4"}
+{"uid":"5897408527558848671","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the vita coco in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the vita coco in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the vita coco in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the vita coco in the drawer 2- Put the orange in the drawer 3- Put the oreo packet in the drawer 4- Put the oreo packet in the drawer 5- Put the can in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the vita coco in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the vita coco 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 place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the vita coco in the drawer\n\u003c/PRED\u003e","video":"10485793938761269348.mp4"}
+{"uid":"13444144190070452973","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker on the board edge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 marker on the board edge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put back the dry erase markers back on the whiteboard tray. last 20 steps: 1- place the marker on the board edge 2- place the marker on the board edge 3- place the marker on the board edge 4- place the marker on the board edge Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the board edge 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put back the dry erase markers back on the whiteboard tray. last 20 steps: 1- place the marker on the board edge 2- place the marker on the board edge 3- place the marker on the board edge 4- place the marker on the board edge Q: immediate next step? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on the board edge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 back the dry erase markers back on the whiteboard tray Q: immediate next step? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e","video":"888706220472778272.mp4"}
+{"uid":"15206482897101264165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11369895085843387383.mp4"}
+{"uid":"14364320055627926144","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put back the dry erase markers back on the whiteboard tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker on the board edge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on the board edge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 back the dry erase markers back on the whiteboard tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the board edge 2- place the marker on the board edge 3- place the marker on the board edge 4- place the marker on the board edge 5- place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put back the dry erase markers back on the whiteboard tray Q: immediate next step? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e","video":"2143013592236161614.mp4"}
+{"uid":"1444577552522817749","text":"\u003ctask:success:discrete:True\u003e\nput redbull can 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:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer 6- Put the oreo packet in the drawer 7- put redbull can in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer 6- Put the oreo packet in the drawer 7- put redbull can in the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull can in the drawer\n\u003c/PRED\u003e","video":"5365839546774733237.mp4"}
+{"uid":"2843773391585821640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet tiles 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":"13246697535880879773.mp4"}
+{"uid":"7926915859993222928","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":"15114643777999625932.mp4"}
+{"uid":"13955499159731631752","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10389147738246611953.mp4"}
+{"uid":"660031066727904638","text":"\u003ctask:success:discrete:False\u003e\nput redbull can in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer 6- Put the oreo packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put redbull can in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can 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 redbull can in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer 6- Put the oreo packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can in the drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: put redbull can in the drawer\n\u003c/PRED\u003e","video":"869816944171132339.mp4"}
+{"uid":"6936945552030943475","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet 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":"13190170646657034842.mp4"}
+{"uid":"4794004770848203376","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the oreo packet 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":"13973480731115269330.mp4"}
+{"uid":"6281018933906843118","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the marker on the board edge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14922043109933310548.mp4"}
+{"uid":"16765842646867714498","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":"11968737567631649232.mp4"}
+{"uid":"14284979089100327673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17055851575881308056.mp4"}
+{"uid":"17215015026254235516","text":"\u003ctask:success:discrete:True\u003e\nPut the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet in the drawer\n\u003c/PRED\u003e","video":"18134989897217441042.mp4"}
+{"uid":"3203279916893617192","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet 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 place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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 all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- Put the can in the drawer 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"1907007324718685427.mp4"}
+{"uid":"4126399995443864984","text":"\u003ctask:success:discrete:True\u003e\nput packet 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 packet in the drawer\n\u003c/PRED\u003e","video":"3292923511860161852.mp4"}
+{"uid":"8679265946872285308","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer 6- Put the oreo packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the drawer 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer 6- Put the oreo packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the can in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can 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 can in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the can in the drawer\n\u003c/PRED\u003e","video":"572433392623848541.mp4"}
+{"uid":"7590854568280661611","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the drawer 2- Put the oreo packet in the drawer 3- Put the oreo packet in the drawer 4- Put the can in the drawer 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the orange in the drawer\n\u003c/PRED\u003e","video":"14918284420162856201.mp4"}
+{"uid":"7723079454431813976","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the oreo packet 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 place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the oreo packet in the drawer 2- Put the can in the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the oreo packet 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 place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e","video":"12769687900573032221.mp4"}
+{"uid":"7999067455636699687","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"9611765940093274042.mp4"}
+{"uid":"13520497674196751855","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"10106970226331695173.mp4"}
+{"uid":"1881491170680104106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the spoon in the middle 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":"12129085894560916520.mp4"}
+{"uid":"734691867458184386","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":"4403981747515408021.mp4"}
+{"uid":"15832842742483463253","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the items into the top drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the can 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer 6- Put the oreo packet in the drawer 7- Put the can in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the items into the top drawer. last 20 steps: 1- Put the oreo packet in the drawer 2- Put the packet in the drawer 3- Put the tetra pack in the drawer 4- Put the orange in the drawer 5- Put the oreo packet in the drawer 6- Put the oreo packet in the drawer 7- Put the can in the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12134900627261342569.mp4"}
+{"uid":"5961863141199426045","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange candy in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3476272712979560087.mp4"}
+{"uid":"3645566068387590500","text":"\u003ctask:success:discrete:True\u003e\nPut the oreo packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the oreo packet in the drawer\n\u003c/PRED\u003e","video":"9203124124024365981.mp4"}
+{"uid":"14846672654606891953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3742953389545619506.mp4"}
+{"uid":"10197161817202860365","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder 6- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder 6- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"7307552041598334673.mp4"}
+{"uid":"10422861483038559813","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8019982485708247699.mp4"}
+{"uid":"7255107008652748020","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pen in the empty 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":"5435575105730783352.mp4"}
+{"uid":"16163822459186267919","text":"\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"14618629362495105815.mp4"}
+{"uid":"6663448851221270410","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder 6- put the pen into the pen holder 7- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder 6- put the pen into the pen holder 7- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2714671728581906338.mp4"}
+{"uid":"17779572150586901342","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1645664773709010100.mp4"}
+{"uid":"11774829597673736447","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put holder on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput holder 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 holder on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput holder 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 holder on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put holder on table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: put holder on table\n\u003c/PRED\u003e","video":"8662207429406250236.mp4"}
+{"uid":"17698103793406678712","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- put the pen into the pen holder 3- put the pen into the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"3301949513471442351.mp4"}
+{"uid":"16902933441078305483","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- put the pen into the pen holder 3- place pen in the empty holder 4- put the pen into the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13997626505221130795.mp4"}
+{"uid":"113406586397246309","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut brown sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7247068373363622519.mp4"}
+{"uid":"6367576630750408014","text":"\u003ctask:success:discrete:True\u003e\nplace pen in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e","video":"8982302808697168254.mp4"}
+{"uid":"8790928365141506962","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":"14824340439377436153.mp4"}
+{"uid":"1424423178979813908","text":"\u003ctask:success:discrete:True\u003e\nplace pen in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e","video":"2914622438433318860.mp4"}
+{"uid":"7456779548389135304","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table Q: immediate next step? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen in the empty holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the empty holder 2- put the pen into the pen holder 3- place pen in the empty holder 4- put the pen into the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e","video":"13914591138898306143.mp4"}
+{"uid":"15597240141420809754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"10443888884042699577.mp4"}
+{"uid":"509360721193942097","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- put the pen into the pen holder 3- put the pen into the pen holder 4- put the pen into the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"5347525328478150079.mp4"}
+{"uid":"6389232657147000308","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7668232657946371913.mp4"}
+{"uid":"2938890799947372530","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in holder 2- place pen in the empty holder 3- put the pen into the pen holder 4- put the pen into the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"240262993143346132.mp4"}
+{"uid":"13117133863198829853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chip 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":"5917103365171463511.mp4"}
+{"uid":"16405020967679849008","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10101989772953432709.mp4"}
+{"uid":"8233981432801202655","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":"12580306724014641487.mp4"}
+{"uid":"4557799081437613605","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder 6- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder 6- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the empty holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen in the empty holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17206409863916375999.mp4"}
+{"uid":"11224545270614231283","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pen in the empty 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":"2406114078353963184.mp4"}
+{"uid":"18332436757083326882","text":"\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"14864482273418723837.mp4"}
+{"uid":"8064340690090113280","text":"\u003ctask:success:discrete:True\u003e\nplace pen 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen holder on the table\n\u003c/PRED\u003e","video":"17051365288663595154.mp4"}
+{"uid":"6023709963078653802","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13181362568506836299.mp4"}
+{"uid":"14541443330948412411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"109625341298127926.mp4"}
+{"uid":"4790410389281142369","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in holder 2- put the pen into the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e","video":"8768248675405416420.mp4"}
+{"uid":"798467556151605162","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2739263933977870626.mp4"}
+{"uid":"3227576822909926385","text":"\u003ctask:success:discrete:True\u003e\nput the pen 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen holder on the table\n\u003c/PRED\u003e","video":"12876552563688347172.mp4"}
+{"uid":"13370059473571979295","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":"13694486421648104156.mp4"}
+{"uid":"801992870076825299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange chocolate into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7196701740968549770.mp4"}
+{"uid":"9748852445224967458","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder 6- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder 6- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10193009083421294235.mp4"}
+{"uid":"16908454366207263093","text":"\u003ctask:success:discrete:True\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e","video":"207664768095524183.mp4"}
+{"uid":"2716408209347204111","text":"\u003ctask:success:discrete:True\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e","video":"6241482388042262573.mp4"}
+{"uid":"14640867515389775720","text":"\u003ctask:success:discrete:True\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14759220980824820342.mp4"}
+{"uid":"11688412790274886058","text":"\u003ctask:success:discrete:False\u003e\nplace pen in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the empty holder 2- put the pen into the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen in the empty holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e","video":"818216760300866017.mp4"}
+{"uid":"6521359861334036641","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- put the pen into the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e","video":"18315062057149629664.mp4"}
+{"uid":"5341239420819999019","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in holder 2- put the pen into the pen holder 3- put the pen into the pen holder 4- put the pen into the pen holder 5- done\n\u003c/PRED\u003e","video":"5252084613108765547.mp4"}
+{"uid":"2652149917827056199","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4241682775089770318.mp4"}
+{"uid":"15928177675228280733","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":"5559779073477762452.mp4"}
+{"uid":"6435296803884197919","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the box middle 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":"3110177792608049001.mp4"}
+{"uid":"1115641261485122358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"1024588431678110060.mp4"}
+{"uid":"5075502704891793373","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder 6- put the pen into the pen holder 7- place pen in the empty holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder 6- put the pen into the pen holder 7- place pen in the empty holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pen in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e","video":"3874581796575173804.mp4"}
+{"uid":"13917899462184904955","text":"\u003ctask:success:discrete:True\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e","video":"12949768559869401897.mp4"}
+{"uid":"9699785536909798382","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the empty holder 2- put the pen into the pen holder 3- put the pen into the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder Q: immediate next step? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen in the empty 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 pen in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen in the empty holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e","video":"4723162127444568882.mp4"}
+{"uid":"13610038160756730601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop fork into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8256008506802842145.mp4"}
+{"uid":"14927538267187357906","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen 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\nplace pen holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place pen holder on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: place pen holder on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen holder on the table\n\u003c/PRED\u003e","video":"10659309907968788396.mp4"}
+{"uid":"6232826386157940073","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put holder on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput holder 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":"16926859590441690131.mp4"}
+{"uid":"2334434811474709073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown packet into the tray table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17359856711855481950.mp4"}
+{"uid":"2497777247860910861","text":"\u003ctask:success:discrete:True\u003e\nplace pen in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e","video":"4371987031164932436.mp4"}
+{"uid":"16184875998664471751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the red packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10529407395520889078.mp4"}
+{"uid":"2651769772786587557","text":"\u003ctask:success:discrete:False\u003e\nplace pen in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder Q: immediate next step? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen in the empty holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the empty holder 2- put the pen into the pen holder 3- put the pen into the pen holder 4- done\n\u003c/PRED\u003e","video":"15408714015085974870.mp4"}
+{"uid":"10682078249824483815","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the empty holder 2- place pen in the empty holder 3- put the pen into the pen holder 4- put the pen into the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen in the empty holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8700041393810964806.mp4"}
+{"uid":"11286026187765780587","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":"14177652340700350118.mp4"}
+{"uid":"14686370177443079469","text":"\u003ctask:success:discrete:True\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder 6- put the pen into the pen holder 7- put black pen in holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder 6- put the pen into the pen holder 7- put black pen in holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e","video":"17472557599242694560.mp4"}
+{"uid":"14682071165035471496","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen holder on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder 5- put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen holder on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: put the pen holder on the table\n\u003c/PRED\u003e","video":"14936840645962827626.mp4"}
+{"uid":"14129397811870575830","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the empty holder 2- put the pen into the pen holder 3- put the pen into the pen holder 4- put the pen into the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen in the empty holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e","video":"1679302004173150558.mp4"}
+{"uid":"13209367039321848877","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in holder 2- put the pen into the pen holder 3- place pen in the empty holder 4- put the pen into the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9346721220377133071.mp4"}
+{"uid":"8434873102771325659","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5344275278115101098.mp4"}
+{"uid":"4235796914841966655","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen into the pen holder 2- place pen in the empty holder 3- put the pen into the pen holder 4- put the pen into the pen holder 5- put the pen into the pen holder\n\u003c/PRED\u003e","video":"15677982977011985163.mp4"}
+{"uid":"12288636250642470382","text":"\u003ctask:success:discrete:True\u003e\nplace pen in the empty holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pen in the empty holder\n\u003c/PRED\u003e","video":"13289787861687182564.mp4"}
+{"uid":"15081200774510174269","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder Q: immediate next step? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the pen holder bin from the cart, place it on the table and put all the black pens in it. last 20 steps: 1- put the pen holder on the table 2- put the pen into the pen holder 3- put the pen into the pen holder 4- place pen in the empty holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in holder 2- put the pen into the pen holder 3- put the pen into the pen holder 4- done\n\u003c/PRED\u003e","video":"2966308951833572022.mp4"}
+{"uid":"215358200961584276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"9485603588556795340.mp4"}
+{"uid":"17653027715442408996","text":"\u003ctask:success:discrete:True\u003e\nplace the plastic glass on the water purifier Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic glass on the water purifier\n\u003c/PRED\u003e","video":"6082008798497184813.mp4"}
+{"uid":"12598928256161644574","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some water then bring it to my desk Q: immediate next step? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic 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:affordance:discriminative:discrete:True\u003e\nplace the plastic 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some water then bring it to my desk. last 20 steps: 1- place the plastic glass on the water purifier 2- press the button 3- enter the hallway Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic glass on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some water then bring it to my desk. last 20 steps: 1- place the plastic glass on the water purifier 2- press the button 3- enter the hallway Q: immediate next step? \u003cPRED\u003eA: place the plastic glass on the table\n\u003c/PRED\u003e","video":"10981611766332862552.mp4"}
+{"uid":"8899530719784626574","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some water then bring it to my desk. last 20 steps: 1- place the plastic glass on the water purifier Q: next 5 steps? \u003cPRED\u003eA: 1- press the button 2- enter the hallway 3- place the plastic glass on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npress the button Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some water then bring it to my desk. last 20 steps: 1- place the plastic glass on the water purifier Q: immediate next step? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some water then bring it to my desk Q: immediate next step? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npress the button Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e","video":"343242716142701615.mp4"}
+{"uid":"16649148920389455722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the big holder at left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8116591563836086417.mp4"}
+{"uid":"5459688331090548493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a white packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2989513994637109682.mp4"}
+{"uid":"11003561343760998222","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some water then bring it to my desk. last 20 steps: 1- place the plastic glass on the water purifier 2- press the button Q: next 5 steps? \u003cPRED\u003eA: 1- enter the hallway 2- place the plastic glass on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter 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 the hallway\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some water then bring it to my desk. last 20 steps: 1- place the plastic glass on the water purifier 2- press the button Q: immediate next step? \u003cPRED\u003eA: enter the hallway\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some water then bring it to my desk Q: immediate next step? \u003cPRED\u003eA: enter the hallway\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1881805286349957880.mp4"}
+{"uid":"11096459052438073386","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":"10440962681076670668.mp4"}
+{"uid":"7643456767678508722","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some water then bring it to my desk. last 20 steps: 1- place the plastic glass on the water purifier 2- press the button 3- enter the hallway 4- place the plastic glass on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the plastic 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 plastic glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some water then bring it to my desk. last 20 steps: 1- place the plastic glass on the water purifier 2- press the button 3- enter the hallway 4- place the plastic glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some water then bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12275128928237156973.mp4"}
+{"uid":"3299284568173551152","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a Pear in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6667130340093632278.mp4"}
+{"uid":"8546334880482774995","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour me some water then bring it to my desk Q: immediate next step? \u003cPRED\u003eA: place the plastic glass on the water purifier\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic glass on the water purifier Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some water then bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the plastic glass on the water purifier\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour me some water then bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic glass on the water purifier 2- press the button 3- enter the hallway 4- place the plastic glass on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic glass on the water purifier\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic glass on the water purifier\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic glass on the water purifier Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1016285630489400102.mp4"}
+{"uid":"3120006567030243566","text":"\u003ctask:success:discrete:True\u003e\nenter 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the hallway\n\u003c/PRED\u003e","video":"7485919576442588401.mp4"}
+{"uid":"405375181577833713","text":"\u003ctask:success:discrete:False\u003e\nput the yellow wire in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the yellow wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow wire in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow wire in the box 2- put the regulator into the box 3- put the marker into the box 4- put the black object into the box 5- put the bowl into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box Q: immediate next step? \u003cPRED\u003eA: put the yellow wire in the box\n\u003c/PRED\u003e","video":"5335500699037832875.mp4"}
+{"uid":"12374932256952855880","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box 9- put the black wire into the box 10- put the scrub pad into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the scrub pad into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the scrub pad into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box 9- put the black wire into the box 10- put the scrub pad into the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"12750459320665344915.mp4"}
+{"uid":"11538161455794963466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the purple 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":"14624710496730425810.mp4"}
+{"uid":"12292124875990745786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslide the cup towards 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":"12563436880123685233.mp4"}
+{"uid":"1761800933657976059","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black wire into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black wire into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black wire into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box Q: immediate next step? \u003cPRED\u003eA: put the black wire into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black wire into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black wire into 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black wire into the box 2- put the scrub pad into the box 3- done\n\u003c/PRED\u003e","video":"9936895217124291105.mp4"}
+{"uid":"5746690478617732592","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box Q: immediate next step? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black object in the box 2- put the regulator into the box 3- put the marker into the box 4- put the black object into the box 5- put the bowl into the box\n\u003c/PRED\u003e","video":"10822016748169928751.mp4"}
+{"uid":"5598917845567933163","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bowl in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box Q: immediate next step? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the bowl in the box 2- put the black wire into the box 3- put the scrub pad into the box 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bowl in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e","video":"10084359101047005063.mp4"}
+{"uid":"17567496597446933014","text":"\u003ctask:success:discrete:True\u003e\nput the regulator into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the regulator into the box\n\u003c/PRED\u003e","video":"11862676417945420227.mp4"}
+{"uid":"2252258230509651669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the plastic spoon 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":"17886569460954415347.mp4"}
+{"uid":"16525579810224053253","text":"\u003ctask:success:discrete:True\u003e\nput the black wire in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e","video":"5909196753079554245.mp4"}
+{"uid":"16198351399514424705","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm 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":"12371373994440574268.mp4"}
+{"uid":"16785602375268954125","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black wire in the box 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box Q: immediate next step? \u003cPRED\u003eA: Put the black wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black wire in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black wire in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the black wire in the box\n\u003c/PRED\u003e","video":"16198338476181891089.mp4"}
+{"uid":"6880412837768637211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the trolley towards the corner near the window Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2057785084588821670.mp4"}
+{"uid":"12708506826057651860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11214322215359426360.mp4"}
+{"uid":"13151037277414307815","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black wire in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box Q: immediate next step? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black wire in the box 2- put the scrub pad into the box 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e","video":"165723142800624294.mp4"}
+{"uid":"2825002130852716166","text":"\u003ctask:success:discrete:True\u003e\nPut the holder in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the holder in the box\n\u003c/PRED\u003e","video":"7349719409156488405.mp4"}
+{"uid":"13312195982389831200","text":"\u003ctask:success:discrete:True\u003e\nPut the black object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black object in the box\n\u003c/PRED\u003e","video":"9867017133999781406.mp4"}
+{"uid":"18047728163843177879","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black wire into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the scrub pad into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box 9- put the black wire into the box Q: immediate next step? \u003cPRED\u003eA: put the scrub pad into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the scrub pad into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box 9- put the black wire into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the scrub pad into the box 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the scrub pad into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the scrub pad into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the scrub pad into 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:success:discrete:True\u003e\nput the black wire into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1885034039527224491.mp4"}
+{"uid":"1293044835568149581","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green glass out of 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":"2148409763128357340.mp4"}
+{"uid":"5493396602666876892","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange wire in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the orange wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange wire in the box 2- put the regulator into the box 3- put the marker into the box 4- put the black object into the box 5- put the bowl into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box Q: immediate next step? \u003cPRED\u003eA: Put the orange wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange wire in the box\n\u003c/PRED\u003e","video":"3292941742832603033.mp4"}
+{"uid":"6031227715969697421","text":"\u003ctask:success:discrete:True\u003e\nput the black object into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black object into the box\n\u003c/PRED\u003e","video":"2500170613311150318.mp4"}
+{"uid":"10250720535059157209","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4712288831544008218.mp4"}
+{"uid":"9595109544560014948","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box\n\u003c/PRED\u003e","video":"3958172452081224234.mp4"}
+{"uid":"3748175605445247258","text":"\u003ctask:success:discrete:True\u003e\nput the regulator in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e","video":"17126436554741840282.mp4"}
+{"uid":"2101614321369730135","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1279033663732696020.mp4"}
+{"uid":"18423947900183024791","text":"\u003ctask:success:discrete:True\u003e\nput the marker into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the marker into the box\n\u003c/PRED\u003e","video":"7808074833686984630.mp4"}
+{"uid":"10708892696809627155","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11654611548567571483.mp4"}
+{"uid":"3820506708787361037","text":"\u003ctask:success:discrete:True\u003e\nput orange wire into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange wire into the box\n\u003c/PRED\u003e","video":"10130613806396443803.mp4"}
+{"uid":"16265832334331632476","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the box 2- put the black object into the box 3- put the bowl into the box 4- put the black wire into the box 5- put the scrub pad into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box Q: immediate next step? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the marker in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e","video":"2335972084504729244.mp4"}
+{"uid":"6650634183415264129","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":"11358194598249605420.mp4"}
+{"uid":"11846898746182749490","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the toy chilli from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12399892905259853286.mp4"}
+{"uid":"4921023353974830458","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":"1382507098870703040.mp4"}
+{"uid":"10172278457394737186","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black box in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black box in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box Q: immediate next step? \u003cPRED\u003eA: put the black box in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black box in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black box in the box 2- put the black wire into the box 3- put the scrub pad into the box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black box in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black box in the box\n\u003c/PRED\u003e","video":"433536508223655444.mp4"}
+{"uid":"8644976308243369851","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box Q: immediate next step? \u003cPRED\u003eA: put the marker into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the marker into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the marker into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker into the box 2- put the black object into the box 3- put the bowl into the box 4- put the black wire into the box 5- put the scrub pad into the box\n\u003c/PRED\u003e","video":"7577531235864430466.mp4"}
+{"uid":"12418782092415678027","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box 9- put the black wire into the box 10- put the sponge in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sponge in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box 9- put the black wire into the box 10- put the sponge in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3400167641295042077.mp4"}
+{"uid":"18261204867753392606","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3474009733561289150.mp4"}
+{"uid":"1707639206797281208","text":"\u003ctask:success:discrete:True\u003e\nput the yellow wire in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow wire in the box\n\u003c/PRED\u003e","video":"1126183975448192719.mp4"}
+{"uid":"13608187786090304378","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box 9- Put the black wire in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box 9- Put the black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black wire in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black wire in the box\n\u003c/PRED\u003e","video":"16824643191497346563.mp4"}
+{"uid":"7798120908899842744","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black box in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black box in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18118064356053449607.mp4"}
+{"uid":"10692726395033837189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the knife Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8346370848390157306.mp4"}
+{"uid":"8002789553838721283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy into the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16633395684821719814.mp4"}
+{"uid":"16614681909914987635","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the holder in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the holder in the box 2- put the marker into the box 3- put the black object into the box 4- put the bowl into the box 5- put the black wire into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the holder in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the holder in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box Q: immediate next step? \u003cPRED\u003eA: Put the holder in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the holder in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the holder in the box\n\u003c/PRED\u003e","video":"6743597570421695456.mp4"}
+{"uid":"4511377440136675698","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Move arm upward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box Q: immediate next step? \u003cPRED\u003eA: Move arm upward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move arm upward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Move arm upward 2- put the black wire into the box 3- put the scrub pad into the box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move arm upward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove arm upward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 upward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11513459269302002247.mp4"}
+{"uid":"6629981922103142989","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the bowl in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14946968232688495529.mp4"}
+{"uid":"4759665885371033941","text":"\u003ctask:success:discrete:True\u003e\nPut the orange wire in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange wire in the box\n\u003c/PRED\u003e","video":"4312338036273642556.mp4"}
+{"uid":"16322505197624184215","text":"\u003ctask:success:discrete:True\u003e\nPut the sponge in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box 9- put the black wire into the box 10- Put the sponge in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box 9- put the black wire into the box 10- Put the sponge in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the sponge in the box\n\u003c/PRED\u003e","video":"16315072138015174658.mp4"}
+{"uid":"6634127625442574258","text":"\u003ctask:success:discrete:False\u003e\nPut the sponge in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the sponge in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sponge in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box 9- put the black wire into the box Q: immediate next step? \u003cPRED\u003eA: Put the sponge in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sponge in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sponge in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box 9- put the black wire into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sponge in the box 2- done\n\u003c/PRED\u003e","video":"9764204125898013551.mp4"}
+{"uid":"4308618113322851360","text":"\u003ctask:success:discrete:False\u003e\nPut the black object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black object in the box 2- put the black wire into the box 3- put the scrub pad into the box 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black object in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the black object in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box Q: immediate next step? \u003cPRED\u003eA: Put the black object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11987683653354150179.mp4"}
+{"uid":"11016761512224665709","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bowl into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bowl into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bowl into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the bowl into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the bowl into the box 2- put the black wire into the box 3- put the scrub pad into the box 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bowl into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box Q: immediate next step? \u003cPRED\u003eA: put the bowl into the box\n\u003c/PRED\u003e","video":"835112881016923321.mp4"}
+{"uid":"1396017693159889590","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":"14233450748583180819.mp4"}
+{"uid":"13062226958223487862","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- put orange wire into the box 3- put large black object into the box 4- put the regulator into the box 5- put the marker into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen 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: open the box\n\u003c/PRED\u003e","video":"7151433661073969512.mp4"}
+{"uid":"6913406282981186470","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange wire into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box Q: immediate next step? \u003cPRED\u003eA: put orange wire into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put orange wire into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box Q: next 5 steps? \u003cPRED\u003eA: 1- put orange wire into the box 2- put large black object into the box 3- put the regulator into the box 4- put the marker into the box 5- put the black object into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange wire into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange wire into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange wire into the box\n\u003c/PRED\u003e","video":"2060536493406551237.mp4"}
+{"uid":"6173046065865377710","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put large black object into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put large black object into the box 2- put the regulator into the box 3- put the marker into the box 4- put the black object into the box 5- put the bowl into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box Q: immediate next step? \u003cPRED\u003eA: put large black object into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put large black object into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput large black object into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput large black object into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put large black object into the box\n\u003c/PRED\u003e","video":"14235629722528418107.mp4"}
+{"uid":"575840973890134791","text":"\u003ctask:success:discrete:True\u003e\nput the bowl into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bowl into the box\n\u003c/PRED\u003e","video":"16068189021649207284.mp4"}
+{"uid":"8770428190761683614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"4276912689631124756.mp4"}
+{"uid":"17283041628397842145","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the regulator in the box 2- put the marker into the box 3- put the black object into the box 4- put the bowl into the box 5- put the black wire into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the regulator in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box Q: immediate next step? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the regulator in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the regulator in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6986393611535560575.mp4"}
+{"uid":"5218727160062494641","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box 9- put the black wire into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the sponge in the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sponge in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box 7- put the black object into the box 8- put the bowl into the box 9- put the black wire into the box Q: immediate next step? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sponge in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2180048507130355763.mp4"}
+{"uid":"4921629506297439776","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15266900386518476447.mp4"}
+{"uid":"8547741104524286219","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box Q: immediate next step? \u003cPRED\u003eA: put the regulator into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the regulator into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the regulator into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the regulator into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the regulator into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the regulator into 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the regulator into the box 2- put the marker into the box 3- put the black object into the box 4- put the bowl into the box 5- put the black wire into the box\n\u003c/PRED\u003e","video":"5899468393836668190.mp4"}
+{"uid":"8669547373179163531","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black object into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box Q: immediate next step? \u003cPRED\u003eA: put the black object into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black object into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black object into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black object into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- open the box 3- put orange wire into the box 4- put large black object into the box 5- put the regulator into the box 6- put the marker into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black object into the box 2- put the bowl into the box 3- put the black wire into the box 4- put the scrub pad into the box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black object into the box\n\u003c/PRED\u003e","video":"12230038035250785867.mp4"}
+{"uid":"18377071347265986567","text":"\u003ctask:success:discrete:True\u003e\nput large black object into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put large black object into the box\n\u003c/PRED\u003e","video":"16085999696802490837.mp4"}
+{"uid":"16683579997714944531","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":"11638753303384096955.mp4"}
+{"uid":"242290149716078100","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the marker in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16761713303497709049.mp4"}
+{"uid":"3074143415433850012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\norganize the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16644601954855387068.mp4"}
+{"uid":"8888859802699975917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the basket beside the stack of 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":"13355396735452055285.mp4"}
+{"uid":"11783898214816777091","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green marker 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":"7079263363383729664.mp4"}
+{"uid":"1781237714441105032","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4780995217890280989.mp4"}
+{"uid":"4289123004614110648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10675780922870709311.mp4"}
+{"uid":"2398451803474443770","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: grab me a guava rose sparkling drink from the fridge. last 20 steps: 1- open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- place the 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: place the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: grab me a guava rose sparkling drink from the fridge. Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: grab me a guava rose sparkling drink from the fridge. last 20 steps: 1- open the fridge Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7524535797790988707.mp4"}
+{"uid":"2983866562766263460","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":"14594054260204910906.mp4"}
+{"uid":"12361489598475552329","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: grab me a guava rose sparkling drink from the fridge. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: grab me a guava rose sparkling drink from the fridge. last 20 steps: 1- open the fridge 2- place the can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: grab me a guava rose sparkling drink from the fridge. last 20 steps: 1- open the fridge 2- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9794300586331025023.mp4"}
+{"uid":"9304638500912982309","text":"\u003ctask:success:discrete:False\u003e\nput orange 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange 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 snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put orange 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table 6- place orange packet on the table 7- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table 6- place orange packet on the table 7- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- done\n\u003c/PRED\u003e","video":"11901278159291806323.mp4"}
+{"uid":"14729623216101420453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11722115079911746160.mp4"}
+{"uid":"17829536402577794044","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the popcorn 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table 6- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the popcorn 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 popcorn 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table 6- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the popcorn packet on the table 2- place orange packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the popcorn packet on the table\n\u003c/PRED\u003e","video":"11979246467310439197.mp4"}
+{"uid":"6120335693125199970","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nset the pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"960870179173021427.mp4"}
+{"uid":"12647276719693146164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14316398530440331694.mp4"}
+{"uid":"7456708754604147721","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":"1961425559358178371.mp4"}
+{"uid":"7907952801807730939","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6297608121302174672.mp4"}
+{"uid":"16116426296733464478","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"815371845250750293.mp4"}
+{"uid":"4075137037715918638","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"3354691311186951349.mp4"}
+{"uid":"5197362440611429569","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2841872679703978647.mp4"}
+{"uid":"10998827491126198401","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11154784433856028693.mp4"}
+{"uid":"11227874892888312373","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the black cable on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7141320974301489593.mp4"}
+{"uid":"13568106706302323926","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange 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:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange 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: place pipcorn 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- place pipcorn packet on the table 2- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"4135091723182542814.mp4"}
+{"uid":"2010555632017577267","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace cups inside the cup stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6735986984281063639.mp4"}
+{"uid":"5595925246599654390","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the popcorn packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the popcorn 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 popcorn 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- place pipcorn packet on the table 2- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the popcorn 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: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the popcorn packet on the table\n\u003c/PRED\u003e","video":"7440188392046692442.mp4"}
+{"uid":"5450504404351077071","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"3977401460461631017.mp4"}
+{"uid":"14708023924403076747","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange 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 orange 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- place pipcorn packet on the table 3- place orange packet on the table 4- done\n\u003c/PRED\u003e","video":"8637562487759818717.mp4"}
+{"uid":"4898402726192657986","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove 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":"15640392482201296258.mp4"}
+{"uid":"7417908400338392477","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the leftmost 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":"15127150184086692065.mp4"}
+{"uid":"12161150984870467227","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":"15719516860378110197.mp4"}
+{"uid":"6770446208228906631","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put apple on the table 6- put pear on the table 7- put apple on the table 8- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put apple on the table 6- put pear on the table 7- put apple on the table 8- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"934360840048227893.mp4"}
+{"uid":"6279255023210777910","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 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: place 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: place 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- place pipcorn packet on the table 3- place orange packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:affordance:discriminative:discrete:True\u003e\nplace 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e","video":"4090526836410784159.mp4"}
+{"uid":"1132997702579385076","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn 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 popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn 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 popcorn 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 popcorn 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 popcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place orange packet on the table 5- place orange packet on the table\n\u003c/PRED\u003e","video":"10786581183194108931.mp4"}
+{"uid":"2147730187304896674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the right side red 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":"3401619659035729721.mp4"}
+{"uid":"18386732892325255470","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4624951491996950317.mp4"}
+{"uid":"5272410326596460702","text":"\u003ctask:success:discrete:True\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"12828907710007687708.mp4"}
+{"uid":"10795031722834234473","text":"\u003ctask:success:discrete:False\u003e\nplace orange 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place orange packet on the table 5- 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange 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 orange 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: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e","video":"7887983439129521034.mp4"}
+{"uid":"3990695203492368382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen from table and place it 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":"11317901404308404401.mp4"}
+{"uid":"11699352450350710220","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the toy 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":"6763001641150930252.mp4"}
+{"uid":"3021473416532805904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop toffee in a jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15913754570320224968.mp4"}
+{"uid":"1434344321685693490","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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","video":"13504330170750055040.mp4"}
+{"uid":"2008007083409216735","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange 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 orange 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table 6- place orange packet on the table 7- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table 6- place orange packet on the table 7- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e","video":"9740015177019862990.mp4"}
+{"uid":"11736864097967755250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"2472622361406780330.mp4"}
+{"uid":"6228584781107449282","text":"\u003ctask:success:discrete:False\u003e\nplace the popcorn 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: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the popcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place orange packet on the table 5- place orange 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: place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the popcorn 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: none Q: immediate next step? \u003cPRED\u003eA: place the popcorn 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 popcorn packet on the table\n\u003c/PRED\u003e","video":"11234760859643519998.mp4"}
+{"uid":"3221553198080197222","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 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: place 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- place pipcorn packet on the table 3- place orange packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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","video":"17348537184312037994.mp4"}
+{"uid":"12142655529750653980","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":"17149491486555099946.mp4"}
+{"uid":"13042918088679603272","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the bottom right houseplant  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":"15009607478211295018.mp4"}
+{"uid":"5613365912926760691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a brown bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"390560656304998821.mp4"}
+{"uid":"11238576616390819108","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":"14899550335419303451.mp4"}
+{"uid":"2429424633181819968","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":"18050848731661330102.mp4"}
+{"uid":"1583517771664716348","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15726099171054800703.mp4"}
+{"uid":"6787402048497142208","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn 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: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"17084790304935628222.mp4"}
+{"uid":"5481091766919091281","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table 6- place orange packet on the table 7- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table 6- place orange packet on the table 7- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho 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 nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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","video":"2503598604283958017.mp4"}
+{"uid":"16435249074728601276","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"5077466830331083180.mp4"}
+{"uid":"8292474787980138423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5768845851030913458.mp4"}
+{"uid":"13721241586300090248","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table 6- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table 6- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place orange packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"9713746012314828720.mp4"}
+{"uid":"12368922631939154749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup in the 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":"6755816422091134491.mp4"}
+{"uid":"2477152487440472249","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chess coin in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3261684634419960938.mp4"}
+{"uid":"3606409199170878264","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: grab me a guava rose sparkling drink from the fridge. Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: grab me a guava rose sparkling drink from the fridge. 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: grab me a guava rose sparkling drink from the fridge. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- place the can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1637083512178133608.mp4"}
+{"uid":"4359700470732168981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black marker 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":"3654846630091247976.mp4"}
+{"uid":"6716516582166937393","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the popcorn 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the popcorn 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 snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the popcorn 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the popcorn packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place pipcorn packet on the table 5- place orange 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 popcorn packet on the table\n\u003c/PRED\u003e","video":"13398100916602019181.mp4"}
+{"uid":"10744049208067054882","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11618373313353267785.mp4"}
+{"uid":"3354977273247644976","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the sugar candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2216986024849986155.mp4"}
+{"uid":"17736742785547676181","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10594042758480355020.mp4"}
+{"uid":"2368420778795770689","text":"\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn 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- place pipcorn packet on the table 2- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn 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- place pipcorn packet on the table 2- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- place pipcorn packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place pipcorn 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 popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"10000283399702708875.mp4"}
+{"uid":"17086665203809369995","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange 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- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place orange packet on the table 5- place orange 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- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e","video":"4397106536374605373.mp4"}
+{"uid":"13867292717203080288","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":"11634116327348917016.mp4"}
+{"uid":"5733488752677881537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange packet into the brown tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9468459472395914821.mp4"}
+{"uid":"66529341483949595","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put popcorn 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table 6- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- place orange packet on the table 3- done\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 popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table 6- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e","video":"862934248453721351.mp4"}
+{"uid":"5853867833815346095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the orange snack bag towards the 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":"14920392502661145517.mp4"}
+{"uid":"1994389721851057593","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put apple on the table 6- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put apple on the table 6- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"18012570249888573051.mp4"}
+{"uid":"12001036153443749274","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:success:discrete:False\u003e\nplace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place 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: place 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: place 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- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place orange packet on the table 5- place orange packet on the table\n\u003c/PRED\u003e","video":"6221389405050115351.mp4"}
+{"uid":"8278081585979320464","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the choco balls 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":"6268253558930250348.mp4"}
+{"uid":"16443986521663121582","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put apple on the table 6- put pear on the table 7- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put apple on the table 6- put pear on the table 7- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put pear on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10381851526311802874.mp4"}
+{"uid":"8546398373108095826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate stone in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2998878153256744578.mp4"}
+{"uid":"123163417740254943","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put apple on the table 4- put apple on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"13283893545271642105.mp4"}
+{"uid":"12293467896491587229","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange 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- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place orange packet on the table 5- place orange 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: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange 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- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10250424811036748273.mp4"}
+{"uid":"7608432989931719674","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput popcorn 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 popcorn 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 popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put popcorn 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put popcorn packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table\n\u003c/PRED\u003e","video":"17317248239257346647.mp4"}
+{"uid":"1246306143008986506","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange 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: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"692715649063182587.mp4"}
+{"uid":"16489521935418667641","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place orange packet on the table 5- 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put orange 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 orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange 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":"4262054341761241952.mp4"}
+{"uid":"12823888778358489126","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put pear on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out all the fruits from the bowl. last 20 steps: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- put apple on the table 5- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"15652078669411160002.mp4"}
+{"uid":"10095020327910046682","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":"17696554500290044937.mp4"}
+{"uid":"2972781233725196884","text":"\u003ctask:success:discrete:True\u003e\nplace orange 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange 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: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange 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- place pipcorn packet on the table 2- place orange packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place pipcorn packet on the table 3- place orange 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: place orange packet on the table\n\u003c/PRED\u003e","video":"2704548964377175442.mp4"}
+{"uid":"734489846108256038","text":"\u003ctask:success:discrete:True\u003e\nopen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e","video":"434921151969601988.mp4"}
+{"uid":"6560873263900273294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a yellow stone in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11460318373666905468.mp4"}
+{"uid":"10595517762171596954","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box\n\u003c/PRED\u003e","video":"6253617172194191978.mp4"}
+{"uid":"18232357357512435532","text":"\u003ctask:success:discrete:True\u003e\ndrop the sanitizer bottle in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the sanitizer bottle in the box\n\u003c/PRED\u003e","video":"9764995952445560937.mp4"}
+{"uid":"14190591853232346058","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":"4409363040449837480.mp4"}
+{"uid":"16100515306355621640","text":"\u003ctask:success:discrete:False\u003e\nOpen the door of the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 door of the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 of the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the door of the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please Q: immediate next step? \u003cPRED\u003eA: Open the door of the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the door of the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the door of the almirah 2- Pick up the notebook from the almirah 3- Close the door of the almirah 4- Put the notebook on the table 5- done\n\u003c/PRED\u003e","video":"4846444555284268548.mp4"}
+{"uid":"5407816439521265206","text":"\u003ctask:success:discrete:True\u003e\ndrop the sanitizer bottle to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the sanitizer bottle to the box\n\u003c/PRED\u003e","video":"12882394341630506802.mp4"}
+{"uid":"13738400219211162685","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the cube to the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cube to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cube to the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cube to the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cube to the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box Q: immediate next step? \u003cPRED\u003eA: drop the cube to the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cube to the box 2- drop the charger in the box 3- drop the apple to the box 4- put the pen stand in the carton 5- drop the sanitizer bottle in the box\n\u003c/PRED\u003e","video":"6688164720910130418.mp4"}
+{"uid":"13518690157226325324","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":"9861497983655306860.mp4"}
+{"uid":"18287662249716472623","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen holder to the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box Q: immediate next step? \u003cPRED\u003eA: drop the pen holder to the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen holder to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the pen holder to the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen holder to the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen holder to the box 2- drop the sanitizer bottle in the box 3- put the black wire in the carton 4- put the black wire in the carton 5- drop  yellow  packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen holder to the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9876833170899163707.mp4"}
+{"uid":"11343024861056610541","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the Chocolate in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12014587767413964375.mp4"}
+{"uid":"1174976132965078676","text":"\u003ctask:success:discrete:True\u003e\nopen the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e","video":"3724051507293716885.mp4"}
+{"uid":"12382115629215559332","text":"\u003ctask:success:discrete:True\u003e\nput the tissue box in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton 10- drop  yellow  packet in the box 11- put the tissue box in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tissue box in the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton 10- drop  yellow  packet in the box 11- put the tissue box in the carton Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1778651771219530742.mp4"}
+{"uid":"2430013124553651513","text":"\u003ctask:success:discrete:True\u003e\ndrop the cube in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cube in the box\n\u003c/PRED\u003e","video":"14907597011311084528.mp4"}
+{"uid":"12885825512826916297","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput popcorn 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":"18212992538002775835.mp4"}
+{"uid":"6732180271043337542","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the drawer set straight\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top Q: immediate next step? \u003cPRED\u003eA: keep the drawer set straight\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the drawer set 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:affordance:discriminative:discrete:True\u003e\nkeep the drawer set 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer Q: immediate next step? \u003cPRED\u003eA: keep the drawer set straight\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer Q: next 5 steps? \u003cPRED\u003eA: 1- keep the drawer set straight 2- open the yellow drawer 3- put circle on the table 4- put sphere on the table 5- keep the drawer set straight\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the drawer set straight\n\u003c/PRED\u003e","video":"16173589879810861310.mp4"}
+{"uid":"4063809411020176962","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton Q: immediate next step? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the carton 2- put the tissue box in the carton 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 carton\n\u003c/PRED\u003e","video":"16384555433731261650.mp4"}
+{"uid":"8202680069961420317","text":"\u003ctask:success:discrete:True\u003e\ndrop the wire in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the wire in the box\n\u003c/PRED\u003e","video":"6667542912233448990.mp4"}
+{"uid":"4868611484953500184","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box Q: immediate next step? \u003cPRED\u003eA: drop the apple to the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple to the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple to the box 2- put the pen stand in the carton 3- drop the sanitizer bottle in the box 4- put the black wire in the carton 5- put the black wire in the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the apple to the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple to the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple to the box\n\u003c/PRED\u003e","video":"11483315442925234608.mp4"}
+{"uid":"14919084886433499442","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky note in the  carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky note in the  carton 2- put the cube in the carton 3- drop the charger in the box 4- drop the apple to the box 5- put the pen stand in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky note in the  carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky note in the  carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the  carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky note in the  carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the  carton\n\u003c/PRED\u003e","video":"5253916232008262252.mp4"}
+{"uid":"10473715647555068357","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black 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":"3374995152622692276.mp4"}
+{"uid":"13886381007552500090","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11717713646818419208.mp4"}
+{"uid":"18188532448407936931","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4047193739651697404.mp4"}
+{"uid":"710896328725954157","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the right glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4890910461994197887.mp4"}
+{"uid":"14459935664946162036","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the door of the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- Open the door of the almirah 2- Pick up the notebook from the almirah Q: immediate next step? \u003cPRED\u003eA: Close the door of the almirah\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the door of the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 a notebook from supply cabinet and place it on my desk please Q: immediate next step? \u003cPRED\u003eA: Close the door of the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- Open the door of the almirah 2- Pick up the notebook from the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- Close the door of the almirah 2- Put the notebook on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the door of the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 of the almirah\n\u003c/PRED\u003e","video":"5555780130612674431.mp4"}
+{"uid":"6346298200943084002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9338401300855129361.mp4"}
+{"uid":"11133168619719799787","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the wire in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the wire in the box 2- put the black wire in the carton 3- drop  yellow  packet in the box 4- put the tissue box in the carton 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the wire in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box Q: immediate next step? \u003cPRED\u003eA: drop the wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the wire in the box\n\u003c/PRED\u003e","video":"5902207408562636932.mp4"}
+{"uid":"4545564506990007823","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue 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":"5017273035602298765.mp4"}
+{"uid":"2370742967179793646","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the yellow drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the yellow 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: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight Q: next 5 steps? \u003cPRED\u003eA: 1- open the yellow drawer 2- put circle on the table 3- put sphere on the table 4- keep the drawer set straight 5- close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight Q: immediate next step? \u003cPRED\u003eA: open the yellow drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top Q: immediate next step? \u003cPRED\u003eA: open the yellow drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the yellow drawer\n\u003c/PRED\u003e","video":"5725510362886590884.mp4"}
+{"uid":"1318605966879918267","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cable wire to the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cable wire to the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cable wire to the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box Q: immediate next step? \u003cPRED\u003eA: drop the cable wire to the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cable wire to the box 2- put the black wire in the carton 3- drop  yellow  packet in the box 4- put the tissue box in the carton 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the cable wire to the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cable wire to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12193030004433182751.mp4"}
+{"uid":"10599220537116355449","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":"11199491401015393179.mp4"}
+{"uid":"16614707997612888879","text":"\u003ctask:success:discrete:False\u003e\nput circle 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: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight 3- open the yellow drawer 4- put circle on the table 5- put sphere on the table 6- keep the drawer set straight 7- close the drawer 8- put sphere in the drawer set Q: immediate next step? \u003cPRED\u003eA: put circle in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight 3- open the yellow drawer 4- put circle on the table 5- put sphere on the table 6- keep the drawer set straight 7- close the drawer 8- put sphere in the drawer set Q: next 5 steps? \u003cPRED\u003eA: 1- put circle in the drawer 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put circle in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put circle in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top Q: immediate next step? \u003cPRED\u003eA: put circle in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput circle 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":"18099227480480194231.mp4"}
+{"uid":"11962576690591805576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knives in the knife 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":"13813984734920505311.mp4"}
+{"uid":"18078354756733637543","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the drawer set straight\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top Q: immediate next step? \u003cPRED\u003eA: keep the drawer set straight\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the drawer set straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the drawer set straight\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight 3- open the yellow drawer 4- put circle on the table 5- put sphere on the table Q: next 5 steps? \u003cPRED\u003eA: 1- keep the drawer set straight 2- close the drawer 3- put sphere in the drawer set 4- put circle in the drawer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the drawer set straight Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight 3- open the yellow drawer 4- put circle on the table 5- put sphere on the table Q: immediate next step? \u003cPRED\u003eA: keep the drawer set straight\n\u003c/PRED\u003e","video":"13727841093486874270.mp4"}
+{"uid":"17719989037887861973","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cable wire to the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the cable wire to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13800409174488882902.mp4"}
+{"uid":"9046811232835617461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"14920125898873608525.mp4"}
+{"uid":"4997973949699749398","text":"\u003ctask:success:discrete:False\u003e\nput circle 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 circle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top Q: immediate next step? \u003cPRED\u003eA: put circle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight 3- open the yellow drawer Q: immediate next step? \u003cPRED\u003eA: put circle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put circle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight 3- open the yellow drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put circle on the table 2- put sphere on the table 3- keep the drawer set straight 4- close the drawer 5- put sphere in the drawer set\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put circle on the table\n\u003c/PRED\u003e","video":"7273731079120246655.mp4"}
+{"uid":"15083583163052070362","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":"15804947907357886843.mp4"}
+{"uid":"7319372097943842728","text":"\u003ctask:success:discrete:True\u003e\ndrop the white sheet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the white sheet in the box\n\u003c/PRED\u003e","video":"6142679814976541336.mp4"}
+{"uid":"1446516063000913215","text":"\u003ctask:success:discrete:True\u003e\nPick up the notebook from the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 notebook from the almirah\n\u003c/PRED\u003e","video":"7883721734018792216.mp4"}
+{"uid":"10162157457832792923","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the smart food packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14840629428157146720.mp4"}
+{"uid":"10739422980220114616","text":"\u003ctask:success:discrete:True\u003e\ndrop  yellow  packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop  yellow  packet in the box\n\u003c/PRED\u003e","video":"16025558587670118441.mp4"}
+{"uid":"5369566616500204636","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":"725753935243536328.mp4"}
+{"uid":"15981989769881096065","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cube in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box Q: immediate next step? \u003cPRED\u003eA: drop the cube in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cube in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cube in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cube in the box 2- drop the charger in the box 3- drop the apple to the box 4- put the pen stand in the carton 5- drop the sanitizer bottle in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cube in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the cube in the box\n\u003c/PRED\u003e","video":"1692965935938201208.mp4"}
+{"uid":"4405252638569925112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1496615766650105604.mp4"}
+{"uid":"8393393536950964327","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton 10- drop  yellow  packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tissue box to the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tissue box to the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the tissue box to the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tissue box to the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the tissue box to the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the tissue box to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton 10- drop  yellow  packet in the box Q: immediate next step? \u003cPRED\u003eA: drop the tissue box to the box\n\u003c/PRED\u003e","video":"11208150981642274920.mp4"}
+{"uid":"2807564727059803302","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the white sheet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: immediate next step? \u003cPRED\u003eA: drop the white sheet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the white sheet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the white sheet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the white sheet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the white sheet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the white sheet in the box 2- put the cube in the carton 3- drop the charger in the box 4- drop the apple to the box 5- put the pen stand in the carton\n\u003c/PRED\u003e","video":"17324335793367625654.mp4"}
+{"uid":"1694693392913845539","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the charger in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the charger in the box 2- drop the apple to the box 3- put the pen stand in the carton 4- drop the sanitizer bottle in the box 5- put the black wire in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the charger in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the charger in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the charger in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the charger in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box Q: immediate next step? \u003cPRED\u003eA: drop the charger in the box\n\u003c/PRED\u003e","video":"7320009377626963992.mp4"}
+{"uid":"3562002855337863797","text":"\u003ctask:success:discrete:False\u003e\nPut the box in the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box in the carton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss out this empty box into the cardboard recycle box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the box in the carton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss out this empty box into the cardboard recycle box Q: immediate next step? \u003cPRED\u003eA: Put the box in the carton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box in the carton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box in the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss out this empty box into the cardboard recycle box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box in the carton box 2- done\n\u003c/PRED\u003e","video":"924271058439878890.mp4"}
+{"uid":"12283968195121584602","text":"\u003ctask:success:discrete:True\u003e\nput circle 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:planning:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put circle in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight 3- open the yellow drawer 4- put circle on the table 5- put sphere on the table 6- keep the drawer set straight 7- close the drawer 8- put sphere in the drawer set 9- put circle in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight 3- open the yellow drawer 4- put circle on the table 5- put sphere on the table 6- keep the drawer set straight 7- close the drawer 8- put sphere in the drawer set 9- put circle in the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2545160447257658192.mp4"}
+{"uid":"18203018930806388176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6199784699866330466.mp4"}
+{"uid":"330476658056735398","text":"\u003ctask:success:discrete:False\u003e\ndrop the sanitizer bottle to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton Q: immediate next step? \u003cPRED\u003eA: drop the sanitizer bottle to the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the sanitizer bottle to the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sanitizer bottle to the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the sanitizer bottle to the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sanitizer bottle to the box 2- put the black wire in the carton 3- put the black wire in the carton 4- drop  yellow  packet in the box 5- put the tissue box in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the sanitizer bottle to the box\n\u003c/PRED\u003e","video":"5123818329140365723.mp4"}
+{"uid":"14132246560188226492","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the carton 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"704564745313900375.mp4"}
+{"uid":"11809795046866725633","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":"15710991483075702743.mp4"}
+{"uid":"5148386429879148480","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton 10- drop  yellow  packet in the box 11- drop the tissue box to the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the tissue box to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton 10- drop  yellow  packet in the box 11- drop the tissue box to the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the tissue box to the box\n\u003c/PRED\u003e","video":"10349703035389455171.mp4"}
+{"uid":"6764881624639793429","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cube in the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the cube in the carton 2- drop the apple to the box 3- put the pen stand in the carton 4- drop the sanitizer bottle in the box 5- put the black wire in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cube in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 sticky note in the  carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sticky note in the  carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box Q: immediate next step? \u003cPRED\u003eA: put the cube in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cube in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the cube in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cube in the carton\n\u003c/PRED\u003e","video":"3120017539083643395.mp4"}
+{"uid":"5545787547256477238","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop  yellow  packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop  yellow  packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop  yellow  packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton Q: immediate next step? \u003cPRED\u003eA: drop  yellow  packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- drop  yellow  packet in the box 2- put the tissue box in the carton 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop  yellow  packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop  yellow  packet in the box\n\u003c/PRED\u003e","video":"12255968147068534510.mp4"}
+{"uid":"3497589360702504048","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black wire in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black wire in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black wire in the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton Q: immediate next step? \u003cPRED\u003eA: put the black wire in the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- put the black wire in the carton 2- drop  yellow  packet in the box 3- put the tissue box in the carton 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black wire in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black wire in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black wire in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16468091683869310758.mp4"}
+{"uid":"11564007369595992301","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":"15127817057649451352.mp4"}
+{"uid":"13264679206327400049","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black wire in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black wire in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14068728274060296765.mp4"}
+{"uid":"9775546754762232177","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the door of the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the door of the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17012623983916170657.mp4"}
+{"uid":"856956755288543628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4676582876379945492.mp4"}
+{"uid":"15240675417570609411","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the yellow drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the yellow drawer 2- keep the drawer set straight 3- open the yellow drawer 4- put circle on the table 5- put sphere on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the yellow 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 yellow 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: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the yellow drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top Q: immediate next step? \u003cPRED\u003eA: open the yellow drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the yellow drawer\n\u003c/PRED\u003e","video":"8193633554814326806.mp4"}
+{"uid":"4910055822592616163","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop pen holder in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop pen holder in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8494435975861543236.mp4"}
+{"uid":"16394706650122032684","text":"\u003ctask:success:discrete:False\u003e\ndrop the sanitizer bottle in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the sanitizer bottle in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the sanitizer bottle in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton Q: immediate next step? \u003cPRED\u003eA: drop the sanitizer bottle in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the sanitizer bottle in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sanitizer bottle in the box 2- put the black wire in the carton 3- put the black wire in the carton 4- drop  yellow  packet in the box 5- put the tissue box in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sanitizer bottle in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3587685941474026937.mp4"}
+{"uid":"13936659295111738401","text":"\u003ctask:success:discrete:True\u003e\ndrop the cube to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cube to the box\n\u003c/PRED\u003e","video":"11563447167416910956.mp4"}
+{"uid":"792255593739786490","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":"8322655326352424687.mp4"}
+{"uid":"7654314587867861020","text":"\u003ctask:success:discrete:True\u003e\ndrop the cable wire to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cable wire to the box\n\u003c/PRED\u003e","video":"15790253835653908584.mp4"}
+{"uid":"3809506059190906856","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cable wire to the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton Q: immediate next step? \u003cPRED\u003eA: drop the cable wire to the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the cable wire to the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cable wire to the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cable wire to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cable wire to the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cable wire to the box 2- drop  yellow  packet in the box 3- put the tissue box in the carton 4- done\n\u003c/PRED\u003e","video":"17677455570239136540.mp4"}
+{"uid":"17195102376260885220","text":"\u003ctask:success:discrete:True\u003e\ndrop the apple in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple in the box\n\u003c/PRED\u003e","video":"14978815967446784273.mp4"}
+{"uid":"12433681328474853390","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- drop the wire in the box 2- drop  yellow  packet in the box 3- put the tissue box in the carton 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the wire in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the wire in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton Q: immediate next step? \u003cPRED\u003eA: drop the wire in the box\n\u003c/PRED\u003e","video":"11588097125095441390.mp4"}
+{"uid":"14784162360435411283","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen stand in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen stand in the carton 2- drop the sanitizer bottle in the box 3- put the black wire in the carton 4- put the black wire in the carton 5- drop  yellow  packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen stand in the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the pen stand in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen stand in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen stand in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box Q: immediate next step? \u003cPRED\u003eA: put the pen stand in the carton\n\u003c/PRED\u003e","video":"7683625859992767227.mp4"}
+{"uid":"17749619460067473292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the yellow box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1073969805369579420.mp4"}
+{"uid":"9888936794955644983","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box Q: immediate next step? \u003cPRED\u003eA: drop the apple in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple in the box 2- put the pen stand in the carton 3- drop the sanitizer bottle in the box 4- put the black wire in the carton 5- put the black wire in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the apple in the box\n\u003c/PRED\u003e","video":"17373372877058050202.mp4"}
+{"uid":"9246766784010726384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour the candies into the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4272103642907603927.mp4"}
+{"uid":"10634628482311591667","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the second 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":"14263421376894423844.mp4"}
+{"uid":"14545373946046744872","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton 10- drop  yellow  packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue box in the carton 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue box in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue box in the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the tissue box in the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton 10- drop  yellow  packet in the box Q: immediate next step? \u003cPRED\u003eA: put the tissue box in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue box in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue box in the carton\n\u003c/PRED\u003e","video":"15088710167470493929.mp4"}
+{"uid":"164469240384418822","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packet into the brown tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8958991782797861561.mp4"}
+{"uid":"3925668184234463831","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper to the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the paper to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper to the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper to the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: immediate next step? \u003cPRED\u003eA: drop the paper to the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the paper to the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper to the box 2- put the cube in the carton 3- drop the charger in the box 4- drop the apple to the box 5- put the pen stand in the carton\n\u003c/PRED\u003e","video":"1266549154604833755.mp4"}
+{"uid":"7410717784830110984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"372433225658995024.mp4"}
+{"uid":"2014789456552329022","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2213350676309139390.mp4"}
+{"uid":"14919606025134551704","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cube in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cube in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3797839357651699014.mp4"}
+{"uid":"761544117315172859","text":"\u003ctask:success:discrete:True\u003e\ndrop the apple to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple to the box\n\u003c/PRED\u003e","video":"9044642769353026190.mp4"}
+{"uid":"4772906968412869974","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sphere in the drawer set\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight 3- open the yellow drawer 4- put circle on the table 5- put sphere on the table 6- keep the drawer set straight 7- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put sphere in the drawer set 2- put circle in the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top Q: immediate next step? \u003cPRED\u003eA: put sphere in the drawer set\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sphere in the drawer set\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sphere in the drawer set Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight 3- open the yellow drawer 4- put circle on the table 5- put sphere on the table 6- keep the drawer set straight 7- close the drawer Q: immediate next step? \u003cPRED\u003eA: put sphere in the drawer set\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sphere in the drawer set Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"218436364378473891.mp4"}
+{"uid":"17990032074542495308","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the notepad 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":"5386039583175464091.mp4"}
+{"uid":"8094497672193470377","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"15640351089204136064.mp4"}
+{"uid":"826419395740284533","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown 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":"15940478772828901334.mp4"}
+{"uid":"6023795391718257209","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sphere on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight 3- open the yellow drawer 4- put circle on the table Q: immediate next step? \u003cPRED\u003eA: put sphere on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sphere on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sphere on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 sphere 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: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight 3- open the yellow drawer 4- put circle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put sphere on the table 2- keep the drawer set straight 3- close the drawer 4- put sphere in the drawer set 5- put circle in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top Q: immediate next step? \u003cPRED\u003eA: put sphere on the table\n\u003c/PRED\u003e","video":"8006541107642976957.mp4"}
+{"uid":"16935728606300733182","text":"\u003ctask:success:discrete:True\u003e\ndrop the charger in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the charger in the box\n\u003c/PRED\u003e","video":"6173010245155196831.mp4"}
+{"uid":"11054353183224805793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"16413476249744259036.mp4"}
+{"uid":"13521644185703260","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen holder to the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen holder to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9060803785477511384.mp4"}
+{"uid":"5308314552808407063","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put circle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput circle 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":"6466009246816310076.mp4"}
+{"uid":"7680081386515044646","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a Pistachio in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3242013517047292985.mp4"}
+{"uid":"10493053311345787483","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cable wire to the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the cable wire to the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cable wire to the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton Q: immediate next step? \u003cPRED\u003eA: drop the cable wire to the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cable wire to the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cable wire to 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cable wire to the box 2- drop the apple to the box 3- put the pen stand in the carton 4- drop the sanitizer bottle in the box 5- put the black wire in the carton\n\u003c/PRED\u003e","video":"17755050501564597563.mp4"}
+{"uid":"11963445059807418696","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the notebook from the almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the notebook from the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the notebook from the almirah Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 notebook from the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- Open the door of the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the notebook from the almirah 2- Close the door of the almirah 3- Put the notebook on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- Open the door of the almirah Q: immediate next step? \u003cPRED\u003eA: Pick up the notebook from the almirah\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please Q: immediate next step? \u003cPRED\u003eA: Pick up the notebook from the almirah\n\u003c/PRED\u003e","video":"4771311806466627435.mp4"}
+{"uid":"6493278961704985296","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":"6758365609360296642.mp4"}
+{"uid":"15960290025346345048","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight 3- open the yellow drawer 4- put circle on the table 5- put sphere on the table 6- keep the drawer set straight 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: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: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top. last 20 steps: 1- open the yellow drawer 2- keep the drawer set straight 3- open the yellow drawer 4- put circle on the table 5- put sphere on the table 6- keep the drawer set straight Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- put sphere in the drawer set 3- put circle in the drawer 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first drawer, remove the shapes, close the drawer, and than put the shapes back into it by using hte slots on top Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"7986178325295501371.mp4"}
+{"uid":"16906564112448500357","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton 10- drop  yellow  packet in the box 11- drop the packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton 10- drop  yellow  packet in the box 11- drop the packet in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13417646529586904350.mp4"}
+{"uid":"8030963263350976837","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3526004174038415266.mp4"}
+{"uid":"10030747632044765742","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the wire in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10301453171383081068.mp4"}
+{"uid":"12807045514616869393","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the notebook on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- Open the door of the almirah 2- Pick up the notebook from the almirah 3- Close the door of the almirah Q: immediate next step? \u003cPRED\u003eA: Put the notebook on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the notebook on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- Open the door of the almirah 2- Pick up the notebook from the almirah 3- Close the door of the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- Put the notebook on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please Q: immediate next step? \u003cPRED\u003eA: Put the notebook on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the notebook on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 notebook 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":"2198258751375973948.mp4"}
+{"uid":"7656818659534577314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the leftmost box 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":"10528486279440198621.mp4"}
+{"uid":"8278047337822556044","text":"\u003ctask:success:discrete:True\u003e\nopen the yellow drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the yellow drawer\n\u003c/PRED\u003e","video":"2094991003358326242.mp4"}
+{"uid":"3151591887420799247","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the plastic scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10119821519463164000.mp4"}
+{"uid":"18024580578131910026","text":"\u003ctask:success:discrete:True\u003e\nopen the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 carton\n\u003c/PRED\u003e","video":"1947434438736846846.mp4"}
+{"uid":"11954549424955651813","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15706291602932178898.mp4"}
+{"uid":"10483816911268370981","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton 10- drop  yellow  packet in the box Q: immediate next step? \u003cPRED\u003eA: drop the packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton 10- drop  yellow  packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in the box 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10135406024268626957.mp4"}
+{"uid":"16764721962515348647","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet to the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton Q: immediate next step? \u003cPRED\u003eA: drop the packet to the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box 8- put the black wire in the carton 9- put the black wire in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet to the box 2- put the tissue box in the carton 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet to the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the packet to the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet to the box\n\u003c/PRED\u003e","video":"5940882419977915240.mp4"}
+{"uid":"18051144794246284382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cheese balls 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":"12345154884067870831.mp4"}
+{"uid":"15277651292904314574","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss out this empty box into the cardboard recycle box. last 20 steps: 1- Put the box in the carton box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss out this empty box into the cardboard recycle box. last 20 steps: 1- Put the box in the carton box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the box in the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the box in the carton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss out this empty box into the cardboard recycle box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2146776323818584987.mp4"}
+{"uid":"4192728963864400608","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- Open the door of the almirah 2- Pick up the notebook from the almirah 3- Close the door of the almirah 4- Put the notebook on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the notebook on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- Open the door of the almirah 2- Pick up the notebook from the almirah 3- Close the door of the almirah 4- Put the notebook on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the notebook 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":"9975447352598220782.mp4"}
+{"uid":"13762927039105639391","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cable wire to the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the cable wire to the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"143705074472946995.mp4"}
+{"uid":"4318265542061736808","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy into the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2283814692357286929.mp4"}
+{"uid":"15227013098474012133","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black wire in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black wire in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black wire in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 black wire in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black wire in the carton 2- put the black wire in the carton 3- drop  yellow  packet in the box 4- put the tissue box in the carton 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box 6- put the pen stand in the carton 7- drop the sanitizer bottle in the box Q: immediate next step? \u003cPRED\u003eA: put the black wire in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black wire in the carton\n\u003c/PRED\u003e","video":"11365336670043453057.mp4"}
+{"uid":"962904117231014508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11296676412138883335.mp4"}
+{"uid":"17045839203819726404","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":"5818422285813293903.mp4"}
+{"uid":"1721976253967653918","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop pen holder in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop pen holder in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop pen holder in the box 2- drop the sanitizer bottle in the box 3- put the black wire in the carton 4- put the black wire in the carton 5- drop  yellow  packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- open the box 2- drop the white sheet in the box 3- put the cube in the carton 4- drop the charger in the box 5- drop the apple to the box Q: immediate next step? \u003cPRED\u003eA: drop pen holder in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop pen holder in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop pen holder in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop pen holder in the box\n\u003c/PRED\u003e","video":"7336457470002236870.mp4"}
+{"uid":"16889548118970051900","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue colored tube in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7549408480981015844.mp4"}
+{"uid":"17789847110704471034","text":"\u003ctask:success:discrete:True\u003e\nput the pen stand in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen stand in the carton\n\u003c/PRED\u003e","video":"1420687799144634787.mp4"}
+{"uid":"15733820740762081341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the banana beside 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":"1092616200359261097.mp4"}
+{"uid":"8595160382410410248","text":"\u003ctask:success:discrete:True\u003e\nmove to the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 pen\n\u003c/PRED\u003e","video":"11189389516077708052.mp4"}
+{"uid":"3600981308550888542","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14839951479085047085.mp4"}
+{"uid":"5135947108264021096","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo 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":"5512012117205996468.mp4"}
+{"uid":"5184424394266234203","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18211443675722597259.mp4"}
+{"uid":"16041325942757661529","text":"\u003ctask:success:discrete:False\u003e\ndrop the yellow packet in the black tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in the black tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow packet in the black tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in the black tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow packet in the black tray 2- push the trolley forward 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow packet in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow packet in the black tray\n\u003c/PRED\u003e","video":"16239498878046250496.mp4"}
+{"uid":"13128212906425914217","text":"\u003ctask:success:discrete:True\u003e\nplace the pen in the black 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 pen in the black tray\n\u003c/PRED\u003e","video":"9772576891423840695.mp4"}
+{"uid":"17825927533294630315","text":"\u003ctask:success:discrete:True\u003e\npick the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the yellow packet\n\u003c/PRED\u003e","video":"14752449792048245013.mp4"}
+{"uid":"11744555588674911614","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow packet on the table 2- Push the trolley stand 3- push the trolley forward 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the yellow packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table Q: immediate next step? \u003cPRED\u003eA: Drop the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Drop the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the yellow 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":"11244330144219097655.mp4"}
+{"uid":"3049228005816175199","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the coffee beans 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":"15127081410229577892.mp4"}
+{"uid":"4201690623676605018","text":"\u003ctask:success:discrete:True\u003e\npick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e","video":"9106077848117620477.mp4"}
+{"uid":"10076008068896961471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate crunch into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17284972669264899793.mp4"}
+{"uid":"98155196340926135","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the top pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the top pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"391036767174684752.mp4"}
+{"uid":"16049965799288251944","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":"14624350849234013102.mp4"}
+{"uid":"17273357258056968649","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  orange into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4991962388705235693.mp4"}
+{"uid":"9638180475031273993","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"14256874081689722401.mp4"}
+{"uid":"12163903600922607646","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":"16551528147402046528.mp4"}
+{"uid":"16918232807546539085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork 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":"6761080592226184588.mp4"}
+{"uid":"17211081685777032908","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen 2- Go to the floor 3- Pick the pen 4- Drop it in the trolley stand 5- Go to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand Q: immediate next step? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13114919131425535119.mp4"}
+{"uid":"5062778438823771354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the  packet in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12639040847053259520.mp4"}
+{"uid":"7251200932525355245","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor Q: immediate next step? \u003cPRED\u003eA: move to the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to 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: move to the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- move to the pen 2- Drop it in the trolley stand 3- Go to the table 4- Pick the yellow pack 5- Drop it in the trolley stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: move to the pen\n\u003c/PRED\u003e","video":"13640681349663418795.mp4"}
+{"uid":"5818154379696055285","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen in the black tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen in the black 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":"18068665289124562914.mp4"}
+{"uid":"3534046002602160950","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor Q: immediate next step? \u003cPRED\u003eA: Drop it in the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop it in the trolley stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Drop it in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop it in the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Drop it in the trolley stand 2- Go to the table 3- Pick the yellow pack 4- Drop it in the trolley stand 5- Push the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop it in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop it in the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12645388997243462407.mp4"}
+{"uid":"143959250697289268","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the ethernet shield box into the white cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5284874228055127430.mp4"}
+{"uid":"15432307478850268599","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop it in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop it in the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9033751405079833107.mp4"}
+{"uid":"2294668781886242268","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop it in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop it in the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10615234590146110151.mp4"}
+{"uid":"3030918579657381842","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand Q: immediate next step? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the table 2- Pick the yellow pack 3- Drop it in the trolley stand 4- Push the trolley stand 5- push the trolley forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15939340119028921034.mp4"}
+{"uid":"17159221655607047108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"940172684824501312.mp4"}
+{"uid":"6304301509075807495","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: Drop the pen on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pen 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:affordance:discriminative:discrete:True\u003e\nDrop the pen 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen on the floor 2- Go to the floor 3- Pick the pen 4- Drop it in the trolley stand 5- Go to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Drop the pen on the floor\n\u003c/PRED\u003e","video":"17919773370421669590.mp4"}
+{"uid":"3093859801571478993","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen 2- Go to the table 3- Pick the yellow pack 4- Drop it in the trolley stand 5- Push the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16688502805869674321.mp4"}
+{"uid":"4716111136681178141","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in the black tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen in the black tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the black tray 2- Put the pen in the top tray of the trolley stand 3- Pick up the pen from the table 4- Drop the pen on the floor 5- Go to the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the black tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the pen in the black tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table Q: immediate next step? \u003cPRED\u003eA: drop the pen in the black tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen in the black 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":"8004344179047507125.mp4"}
+{"uid":"7812064934460039236","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Push the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand Q: immediate next step? \u003cPRED\u003eA: Push the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the trolley stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- Push the trolley stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the trolley stand\n\u003c/PRED\u003e","video":"15930305107036405548.mp4"}
+{"uid":"14672331622026447594","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the yellow packet 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: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the yellow packet from the table 2- Drop it in the trolley stand 3- Push the trolley stand 4- push the trolley forward 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the yellow packet 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 up the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow packet from the table\n\u003c/PRED\u003e","video":"5591495431768665836.mp4"}
+{"uid":"11533991523143191982","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Push the trolley stand close to the wall\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the trolley stand close to the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- Push the trolley stand close to the wall 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the trolley stand close to the wall\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand Q: immediate next step? \u003cPRED\u003eA: Push the trolley stand close to the wall\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the trolley stand close to the wall\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the trolley stand close to the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10713797247134812100.mp4"}
+{"uid":"15335315739225362078","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the yellow pack 2- Drop it in the trolley stand 3- Push the trolley stand 4- push the trolley forward 5- done\n\u003c/PRED\u003e\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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table Q: immediate next step? \u003cPRED\u003eA: Pick the yellow pack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the yellow pack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the yellow pack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick the yellow pack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the yellow pack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the yellow pack\n\u003c/PRED\u003e","video":"12247408979114467934.mp4"}
+{"uid":"13905546242939563553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a candy in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1767201809711446080.mp4"}
+{"uid":"93413299946013699","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand 19- Push the trolley stand close to the wall Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand 19- Push the trolley stand close to the wall Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Push the trolley stand close to the wall\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPush the trolley stand close to the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2199378508960719190.mp4"}
+{"uid":"5178205103970635773","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pen from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen from the floor 2- Go to the table 3- Pick the yellow pack 4- Drop it in the trolley stand 5- Push the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pen from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen from the floor\n\u003c/PRED\u003e","video":"10099743898640577615.mp4"}
+{"uid":"7972862582616496701","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pen in the top tray of the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen in the top tray of the trolley stand 2- Pick up the right pen from the table 3- Place the pen in the top tray of the trolley stand 4- Pick up the top pen from the table 5- Put the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen in the top tray of the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14095877866235323929.mp4"}
+{"uid":"2112265707996206859","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the sticky notes in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the sticky notes in the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16216000872055499388.mp4"}
+{"uid":"16750595853621946944","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Put the topmost pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand Q: immediate next step? \u003cPRED\u003eA: Put the topmost pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the topmost pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the topmost pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the topmost pen in the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the topmost pen in the trolley stand 2- Drop the pen on the floor 3- Go to the floor 4- Pick the pen 5- Drop it in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the topmost pen in the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17832270594958349223.mp4"}
+{"uid":"7319345761870996106","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":"16063059002019971919.mp4"}
+{"uid":"14605958869994148268","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the floor 2- Pick the pen 3- Drop it in the trolley stand 4- Go to the table 5- Pick the yellow pack\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:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Go to the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the floor\n\u003c/PRED\u003e","video":"3301710803835537333.mp4"}
+{"uid":"13063637154378075973","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6202152502778489108.mp4"}
+{"uid":"17506234069026917098","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the sticky note Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick the sticky note 2- Pick up the bottom right pen from the table 3- Drop the pen in the top tray of the trolley stand 4- Pick up the right pen from the table 5- Place the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the sticky note Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand Q: immediate next step? \u003cPRED\u003eA: pick the sticky note\n\u003c/PRED\u003e","video":"12779858476888936332.mp4"}
+{"uid":"14019243186190828947","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen from the table 2- Drop the pen on the floor 3- Go to the floor 4- Pick the pen 5- Drop it in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e","video":"1365007809657782634.mp4"}
+{"uid":"10969524934683647311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the black cloth from the hook Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1572411475622148921.mp4"}
+{"uid":"13378943970745136657","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table Q: immediate next step? \u003cPRED\u003eA: Put the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the top tray of the trolley stand 2- Pick up the pen from the table 3- Drop the pen on the floor 4- Go to the floor 5- Pick the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Put the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the top tray of the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the top tray of the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11121651641540027446.mp4"}
+{"uid":"3704678451319173509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8475051885757949418.mp4"}
+{"uid":"16470554773081442424","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sanitizer bottle in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sanitizer bottle in the top tray of the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sanitizer bottle in the top tray of the trolley stand 2- Pick up the sticky notes from the table 3- Drop the sticky notes in the top tray of the trolley stand 4- Pick up the bottom right pen from the table 5- Drop the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the sanitizer bottle in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle Q: immediate next step? \u003cPRED\u003eA: Place the sanitizer bottle in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sanitizer bottle in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sanitizer bottle in the top tray of the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15463193936194605507.mp4"}
+{"uid":"3903396552779566381","text":"\u003ctask:success:discrete:True\u003e\nPut the pen in the black stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen in the black stand\n\u003c/PRED\u003e","video":"337172998347114912.mp4"}
+{"uid":"11046613948649994723","text":"\u003ctask:success:discrete:True\u003e\npick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e","video":"9857451507875394510.mp4"}
+{"uid":"1605521539361871602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3577520911876713301.mp4"}
+{"uid":"6087566499312821915","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":"2493952473557533011.mp4"}
+{"uid":"2157522956307395954","text":"\u003ctask:success:discrete:True\u003e\nPick up the right pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the right pen from the table\n\u003c/PRED\u003e","video":"13081097696188480067.mp4"}
+{"uid":"9216521544794977494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red book on the right side of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12575945169357548191.mp4"}
+{"uid":"452606956353588528","text":"\u003ctask:success:discrete:True\u003e\nDrop the right pen in the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the right pen in the trolley stand\n\u003c/PRED\u003e","video":"6910290733035275777.mp4"}
+{"uid":"12274438480394153736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen middle 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":"7835206706180022956.mp4"}
+{"uid":"4534143661520675018","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand 19- push the trolley forward Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the trolley forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npush the trolley 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand 19- push the trolley forward Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6043721503209806375.mp4"}
+{"uid":"6929454572471577838","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bottom right pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottom right pen from the table 2- Drop the pen in the top tray of the trolley stand 3- Pick up the right pen from the table 4- Place the pen in the top tray of the trolley stand 5- Pick up the top pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottom right pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom right pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the bottom right pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom right pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottom right pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17211665668793521720.mp4"}
+{"uid":"17682915657046630656","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the right pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand Q: immediate next step? \u003cPRED\u003eA: Pick up the right pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pink marker in pink marker rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the right pen from the table 2- Place the pen in the top tray of the trolley stand 3- Pick up the top pen from the table 4- Put the pen in the top tray of the trolley stand 5- Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the right pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the right pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the right pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the right pen from the table\n\u003c/PRED\u003e","video":"13876992555389841796.mp4"}
+{"uid":"1093813084115773809","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick  the top 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand Q: immediate next step? \u003cPRED\u003eA: pick  the top pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick  the top pen 2- Pick up the pen from the table 3- Drop the pen on the floor 4- Go to the floor 5- Pick the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick  the top pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick  the top pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick  the top 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick  the top pen\n\u003c/PRED\u003e","video":"13568180161972494725.mp4"}
+{"uid":"2751720763699626731","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the pen 2- Go to the table 3- Pick the yellow pack 4- Drop it in the trolley stand 5- Push the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor Q: immediate next step? \u003cPRED\u003eA: Pick the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13881466428508183635.mp4"}
+{"uid":"8770025282071597267","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Drop the sticky notes in the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the sticky notes in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the sticky notes in the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the sticky notes in the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the sticky notes in the trolley stand 2- Drop the pen in the top tray of the trolley stand 3- Pick up the right pen from the table 4- Place the pen in the top tray of the trolley stand 5- Pick up the top pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand Q: immediate next step? \u003cPRED\u003eA: Drop the sticky notes in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the sticky notes in the trolley stand\n\u003c/PRED\u003e","video":"9874221928242296492.mp4"}
+{"uid":"18353371060618838960","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sanitizer bottle in the black tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sanitizer bottle in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle Q: immediate next step? \u003cPRED\u003eA: place the sanitizer bottle in the black tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sanitizer bottle in the black tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the sanitizer bottle in the black tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- place the sanitizer bottle in the black tray 2- Drop the sticky notes in the top tray of the trolley stand 3- Pick up the bottom right pen from the table 4- Drop the pen in the top tray of the trolley stand 5- Pick up the right pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sanitizer bottle in the black tray\n\u003c/PRED\u003e","video":"2330289894127033718.mp4"}
+{"uid":"12702165342073519126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the left glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8501632060002372777.mp4"}
+{"uid":"3371097635492310673","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop it in the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack Q: immediate next step? \u003cPRED\u003eA: Drop it in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop it in the trolley stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack Q: next 5 steps? \u003cPRED\u003eA: 1- Drop it in the trolley stand 2- Push the trolley stand 3- push the trolley forward 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop it in the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop it in the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Drop it in the trolley stand\n\u003c/PRED\u003e","video":"4570771018843264909.mp4"}
+{"uid":"923706827449211782","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the pen in the black tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the black tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the black tray 2- Drop the pen on the floor 3- Go to the floor 4- Pick the pen 5- Drop it in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table Q: immediate next step? \u003cPRED\u003eA: drop the pen in the black tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen in the black tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in the black tray\n\u003c/PRED\u003e","video":"14413984667116736556.mp4"}
+{"uid":"5212216708173526813","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRelease the pen in the top tray of the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12118999727910212844.mp4"}
+{"uid":"790795527214119215","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in the black tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table Q: immediate next step? \u003cPRED\u003eA: drop the pen in the black tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the pen in the black tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the black tray 2- Place the pen in the top tray of the trolley stand 3- Pick up the top pen from the table 4- Put the pen in the top tray of the trolley stand 5- Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen in the black tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the black tray\n\u003c/PRED\u003e","video":"8243808891091808175.mp4"}
+{"uid":"4375777475380782964","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the sticky notes in the top tray of the trolley stand 2- Pick up the bottom right pen from the table 3- Drop the pen in the top tray of the trolley stand 4- Pick up the right pen from the table 5- Place the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the sticky notes in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table Q: immediate next step? \u003cPRED\u003eA: Drop the sticky notes in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the sticky notes in the top tray of the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Drop the sticky notes in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the sticky notes in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the sticky notes in the top tray of the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13656451370966199156.mp4"}
+{"uid":"7515023311255224073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15715139521760747744.mp4"}
+{"uid":"7566759926786799552","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pen in the black stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen in the black stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Put the pen in the black stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen in the black stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand Q: immediate next step? \u003cPRED\u003eA: Put the pen in the black stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen in the black stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen in the black stand 2- Pick up the right pen from the table 3- Place the pen in the top tray of the trolley stand 4- Pick up the top pen from the table 5- Put the pen in the top tray of the trolley stand\n\u003c/PRED\u003e","video":"12609520681198131403.mp4"}
+{"uid":"6205467779765434253","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pista 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":"11547348511560916605.mp4"}
+{"uid":"8016551784552223332","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a white packet into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8805900726591582430.mp4"}
+{"uid":"50572909011888441","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":"12257079298845935859.mp4"}
+{"uid":"16679274953065355846","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candies into the bowls Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15132953464201145679.mp4"}
+{"uid":"18012349004410205039","text":"\u003ctask:success:discrete:False\u003e\nPlace the pen in the top tray of the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the top tray of the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table Q: immediate next step? \u003cPRED\u003eA: Place the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the top tray of the trolley stand 2- Pick up the top pen from the table 3- Put the pen in the top tray of the trolley stand 4- Pick up the pen from the table 5- Drop the pen on the floor\n\u003c/PRED\u003e","video":"12191006317980843249.mp4"}
+{"uid":"231535299677017177","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the top right pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the top right pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1219636883770773185.mp4"}
+{"uid":"16496608585254329471","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":"8238074828208300871.mp4"}
+{"uid":"5710307963689322449","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sticky note in the black tray 2- Drop the pen in the top tray of the trolley stand 3- Pick up the right pen from the table 4- Place the pen in the top tray of the trolley stand 5- Pick up the top pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the sticky note in the black tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the sticky note in the black tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the sticky note in the black tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table Q: immediate next step? \u003cPRED\u003eA: drop the sticky note in the black tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the sticky note in the black tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sticky note in the black 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":"17824800811368130291.mp4"}
+{"uid":"12810415383763007894","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the yellow packet from the table 2- Push the trolley stand 3- push the trolley forward 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the yellow packet 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\nLift the yellow packet 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: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Lift the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack Q: immediate next step? \u003cPRED\u003eA: Lift the yellow packet from the table\n\u003c/PRED\u003e","video":"17784647268477865476.mp4"}
+{"uid":"2148206376673754654","text":"\u003ctask:success:discrete:True\u003e\nPick up the pen from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the pen from the floor\n\u003c/PRED\u003e","video":"10163805422488585592.mp4"}
+{"uid":"11186913036821159835","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pens on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8156367019786940130.mp4"}
+{"uid":"13847205654653965973","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue kettle packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9896369574451458221.mp4"}
+{"uid":"9237172341891628974","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pink cup in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7233314990720450084.mp4"}
+{"uid":"10212957199779277951","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14333816663008626494.mp4"}
+{"uid":"7056392160646970258","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"534736213282035868.mp4"}
+{"uid":"1810437970723498487","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the top right pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the top right pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the top right 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand Q: immediate next step? \u003cPRED\u003eA: pick the top right pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the top right 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick the top right pen 2- Pick up the top pen from the table 3- Put the pen in the top tray of the trolley stand 4- Pick up the pen from the table 5- Drop the pen on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick the top right pen\n\u003c/PRED\u003e","video":"8668146579631065438.mp4"}
+{"uid":"9079006902069808694","text":"\u003ctask:success:discrete:True\u003e\npick the sanitizer bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the sanitizer bottle\n\u003c/PRED\u003e","video":"3679875826173985735.mp4"}
+{"uid":"93898315026907926","text":"\u003ctask:success:discrete:True\u003e\nPut the topmost pen in the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the topmost pen in the trolley stand\n\u003c/PRED\u003e","video":"3004791574623766174.mp4"}
+{"uid":"12524870317535559136","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick 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:discriminative:discrete:True\u003e\npick 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand Q: immediate next step? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen 2- Go to the floor 3- Pick the pen 4- Drop it in the trolley stand 5- Go to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen\n\u003c/PRED\u003e","video":"10405952030992711185.mp4"}
+{"uid":"14845157945642903917","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the sticky notes from the table 2- Drop the sticky notes in the top tray of the trolley stand 3- Pick up the bottom right pen from the table 4- Drop the pen in the top tray of the trolley stand 5- Pick up the right pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the sticky notes from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the sticky notes from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the sticky notes from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand Q: immediate next step? \u003cPRED\u003eA: Pick up the sticky notes from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the sticky notes from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the sticky notes 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":"18136322378007289055.mp4"}
+{"uid":"5391702120723780812","text":"\u003ctask:affordance:discriminative:discrete:True\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\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the pen in the top tray of the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen Q: next 5 steps? \u003cPRED\u003eA: 1- Release the pen in the top tray of the trolley stand 2- Go to the table 3- Pick the yellow pack 4- Drop it in the trolley stand 5- Push the trolley stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Release the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen Q: immediate next step? \u003cPRED\u003eA: Release the pen in the top tray of the trolley stand\n\u003c/PRED\u003e","video":"13863776198855668563.mp4"}
+{"uid":"13151521943211261001","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut yellow 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":"6520029253001333992.mp4"}
+{"uid":"7691540091620147061","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":"17928691615920692538.mp4"}
+{"uid":"4556714433495102528","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":"8795170171166331224.mp4"}
+{"uid":"9161684165304657034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2638226980870958463.mp4"}
+{"uid":"6337387313492600374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"18320090641490700742.mp4"}
+{"uid":"14162432788172716675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the sticky notes from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7455115206448936705.mp4"}
+{"uid":"12365107348240448516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15626053868361353638.mp4"}
+{"uid":"13008769868133708735","text":"\u003ctask:success:discrete:True\u003e\ndrop the yellow packet in the black tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow packet in the black tray\n\u003c/PRED\u003e","video":"9295999754688046009.mp4"}
+{"uid":"10717716307279054557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink candy in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13940766697136097184.mp4"}
+{"uid":"17776385752282251871","text":"\u003ctask:success:discrete:True\u003e\nPick the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the pen\n\u003c/PRED\u003e","video":"11705856155224642271.mp4"}
+{"uid":"7965306392776867012","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Slide it to the wall\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlide it to the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlide it to the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand 19- Push the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- Slide it to the wall 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand 19- Push the trolley stand Q: immediate next step? \u003cPRED\u003eA: Slide it to the wall\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slide it to the wall\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slide it to the wall\n\u003c/PRED\u003e","video":"11069004083087549327.mp4"}
+{"uid":"10838550233510132241","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":"14695446924016056582.mp4"}
+{"uid":"584222549018682415","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":"12409617795550929363.mp4"}
+{"uid":"15622480921148230995","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6825512658132626943.mp4"}
+{"uid":"8714487648356197991","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the right pen in the trolley stand 2- Put the pen in the top tray of the trolley stand 3- Pick up the pen from the table 4- Drop the pen on the floor 5- Go to the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Drop the right pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the right pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the right pen in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the right pen in the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the right pen in the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand Q: immediate next step? \u003cPRED\u003eA: Drop the right pen in the trolley stand\n\u003c/PRED\u003e","video":"15799758629515923044.mp4"}
+{"uid":"8014924119573231923","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Push the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPush the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand 19- Push the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand 19- Push the trolley stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3611132432318516793.mp4"}
+{"uid":"9302189777823946007","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move down to the pen on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove down to the pen on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17592779907953693443.mp4"}
+{"uid":"2042278250471714050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17492458708257224841.mp4"}
+{"uid":"13590406648566318112","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove down to the pen 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:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Move down to the pen on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move down to the pen on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove down to the pen 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move down to the pen on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor Q: immediate next step? \u003cPRED\u003eA: Move down to the pen on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Move down to the pen on the floor 2- Drop it in the trolley stand 3- Go to the table 4- Pick the yellow pack 5- Drop it in the trolley stand\n\u003c/PRED\u003e","video":"12938763361359466296.mp4"}
+{"uid":"13832471963220577662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper chit in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14224696795375698159.mp4"}
+{"uid":"12098290599065563847","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bottom right pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bottom right pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bottom right pen 2- Pick up the right pen from the table 3- Place the pen in the top tray of the trolley stand 4- Pick up the top pen from the table 5- Put the pen in the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bottom right 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand Q: immediate next step? \u003cPRED\u003eA: pick the bottom right pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick the bottom right pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the bottom right pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7971954010313868804.mp4"}
+{"uid":"17541477209030216847","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow packet 2- Push the trolley stand 3- push the trolley forward 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9536530066840029253.mp4"}
+{"uid":"16190798241592946343","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place it in the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place it in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace it in the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place it in the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place it in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace it in the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place it in the trolley stand 2- Pick up the sticky notes from the table 3- Drop the sticky notes in the top tray of the trolley stand 4- Pick up the bottom right pen from the table 5- Drop the pen in the top tray of the trolley stand\n\u003c/PRED\u003e","video":"4452486968635488135.mp4"}
+{"uid":"16569448449402883791","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen  the first drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5246282348194433612.mp4"}
+{"uid":"4721096555902418760","text":"\u003ctask:success:discrete:False\u003e\npush the trolley 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: push the trolley forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: push the trolley forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- push the trolley forward 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the trolley 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: push the trolley forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand Q: immediate next step? \u003cPRED\u003eA: push the trolley forward\n\u003c/PRED\u003e","video":"6293737319883089418.mp4"}
+{"uid":"7256774779998364152","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink 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":"7505292229440211294.mp4"}
+{"uid":"17084323565581018468","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the black 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 pen in the black tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the black tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the black tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: place the pen in the black tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the black tray 2- Pick the yellow pack 3- Drop it in the trolley stand 4- Push the trolley stand 5- push the trolley forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen Q: immediate next step? \u003cPRED\u003eA: place the pen in the black tray\n\u003c/PRED\u003e","video":"12152647093483724690.mp4"}
+{"uid":"2320610150692731670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic fork in the black 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":"17112421459286971755.mp4"}
+{"uid":"5820788023962337117","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the brown packets in front of black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4525725986594552054.mp4"}
+{"uid":"1650435112509097574","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand 19- Push the trolley stand 20- Slide it to the wall Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nSlide it to the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Slide it to the wall\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack 18- Drop it in the trolley stand 19- Push the trolley stand 20- Slide it to the wall Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8999828982013374514.mp4"}
+{"uid":"15646007266158600152","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack Q: immediate next step? \u003cPRED\u003eA: Drop the yellow packet on the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the yellow packet on the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the yellow packet on the top tray of the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand 9- Pick up the top pen from the table 10- Put the pen in the top tray of the trolley stand 11- Pick up the pen from the table 12- Drop the pen on the floor 13- Go to the floor 14- Pick the pen 15- Drop it in the trolley stand 16- Go to the table 17- Pick the yellow pack Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow packet on the top tray of the trolley stand 2- Push the trolley stand 3- push the trolley forward 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the yellow packet on the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Drop the yellow packet on the top tray of the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the yellow packet on the top tray of the trolley stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3907513495315065815.mp4"}
+{"uid":"13434185998085226252","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the top pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand Q: immediate next step? \u003cPRED\u003eA: Pick up the top pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the top pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the top pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Pick up the sanitizer bottle from the bottle 2- Place it in the trolley stand 3- Pick up the sticky notes from the table 4- Drop the sticky notes in the top tray of the trolley stand 5- Pick up the bottom right pen from the table 6- Drop the pen in the top tray of the trolley stand 7- Pick up the right pen from the table 8- Place the pen in the top tray of the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the top pen from the table 2- Put the pen in the top tray of the trolley stand 3- Pick up the pen from the table 4- Drop the pen on the floor 5- Go to the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the top pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the top pen from the table\n\u003c/PRED\u003e","video":"13264131075302888066.mp4"}
+{"uid":"15727723954716569634","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo towards 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":"259335711045365717.mp4"}
+{"uid":"10895782618740898997","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the book 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":"11975256468094847959.mp4"}
+{"uid":"14289875160918045168","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":"10834917342236129006.mp4"}
+{"uid":"2458710365439387339","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place 3 red books on the table Q: immediate next step? \u003cPRED\u003eA: Put the book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 red books on the table . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 red books on the table . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book on the table 2- Stack the book on the table 3- Put the book 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 book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the book 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":"10690835809108539208.mp4"}
+{"uid":"2727546750346277658","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 red books on the table . last 20 steps: 1- Put the book on the table 2- Stack the book on the table 3- Put the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the book 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 book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place 3 red books on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 red books on the table . last 20 steps: 1- Put the book on the table 2- Stack the book on the table 3- Put the book on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12468462736934426267.mp4"}
+{"uid":"11080316502309220540","text":"\u003ctask:success:discrete:True\u003e\nStack the book 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: Stack the book on the table\n\u003c/PRED\u003e","video":"10895983970769863827.mp4"}
+{"uid":"7365384589349644355","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 red books on the table . last 20 steps: 1- Put the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the book on the table 2- Put the book on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place 3 red books on the table Q: immediate next step? \u003cPRED\u003eA: Stack the book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 red books on the table . last 20 steps: 1- Put the book on the table Q: immediate next step? \u003cPRED\u003eA: Stack the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the book 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":"13819551773107894821.mp4"}
+{"uid":"1652598769633675702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack  a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"507248905729516004.mp4"}
+{"uid":"15019281480900338548","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place 3 red books on the table Q: immediate next step? \u003cPRED\u003eA: Put the book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 red books on the table . last 20 steps: 1- Put the book on the table 2- Stack the book on the table Q: immediate next step? \u003cPRED\u003eA: Put the book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place 3 red books on the table . last 20 steps: 1- Put the book on the table 2- Stack the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the book on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the book 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":"2613072043105345929.mp4"}
+{"uid":"12777458915758366959","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":"11015658652238607832.mp4"}
+{"uid":"15732020951301226034","text":"\u003ctask:success:discrete:True\u003e\nthrow a paper into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw a paper into dustbin\n\u003c/PRED\u003e","video":"14043671516841392567.mp4"}
+{"uid":"10913610656693434454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8466586984976280022.mp4"}
+{"uid":"10458657835910650441","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the crushed paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the crushed paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the crushed paper in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the crushed paper in the recycle bin 2- throw the cup in the trash bin 3- put white packet in the jar 4- put a packet into jar 5- put a packet into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the crushed paper in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the crushed paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the crushed paper in the recycle bin\n\u003c/PRED\u003e","video":"985386612679853473.mp4"}
+{"uid":"11928092278808153101","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the smart 50 packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the smart 50 packet in the jar 2- put a packet into jar 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the smart 50 packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the smart 50 packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the smart 50 packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar Q: immediate next step? \u003cPRED\u003eA: put the smart 50 packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the smart 50 packet in the jar\n\u003c/PRED\u003e","video":"15311687489657547885.mp4"}
+{"uid":"15920487459184416521","text":"\u003ctask:success:discrete:True\u003e\nput a packet into jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put a packet into jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put a packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e","video":"12299962058684271963.mp4"}
+{"uid":"8721700929303346249","text":"\u003ctask:success:discrete:True\u003e\nput a packet into jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e","video":"17034018273822193536.mp4"}
+{"uid":"8601519878495525097","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the browine packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the browine packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the browine packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the browine packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- put the browine packet in the jar 2- put a packet into jar 3- put blue packet in the jar 4- put a packet into jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin Q: immediate next step? \u003cPRED\u003eA: put the browine packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the browine packet in the jar\n\u003c/PRED\u003e","video":"16785002402869935222.mp4"}
+{"uid":"1917451360992784256","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":"4982866826746078541.mp4"}
+{"uid":"334137720470316086","text":"\u003ctask:success:discrete:True\u003e\nput the plastic glass in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic glass in the recycle bin\n\u003c/PRED\u003e","video":"11825101813813408936.mp4"}
+{"uid":"4647697995037455344","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana in the pink plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10331393182245073605.mp4"}
+{"uid":"5985653184479931368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"144974204726965535.mp4"}
+{"uid":"17292160909733435136","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife 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":"221275180165834146.mp4"}
+{"uid":"10181658766713527363","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e","video":"8566980955917783704.mp4"}
+{"uid":"3836679854074542842","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic glass in the recycle bin 2- put white packet in the jar 3- put a packet into jar 4- put a packet into jar 5- put blue packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic glass in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin Q: immediate next step? \u003cPRED\u003eA: put the plastic glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic glass in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the plastic glass in the recycle bin\n\u003c/PRED\u003e","video":"6773278700303212189.mp4"}
+{"uid":"4704913404456085561","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the smart 50 packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the smart 50 packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15851493233722817269.mp4"}
+{"uid":"16562423539641858143","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the cup in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow a paper glass into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the cup in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw a paper glass into dustbin\n\u003c/PRED\u003e","video":"2561468672069510500.mp4"}
+{"uid":"2764715736930052942","text":"\u003ctask:success:discrete:True\u003e\nput the plastic glass in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic glass in the recycle bin\n\u003c/PRED\u003e","video":"5162245287173475477.mp4"}
+{"uid":"1954551463666121634","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the plastic glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin Q: immediate next step? \u003cPRED\u003eA: put the plastic glass in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic glass in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic glass in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic glass in the recycle bin 2- put white packet in the jar 3- put a packet into jar 4- put a packet into jar 5- put blue packet in the jar\n\u003c/PRED\u003e","video":"13701700657901121887.mp4"}
+{"uid":"4169570775979740185","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":"11334739634175269344.mp4"}
+{"uid":"8007486262330914664","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put blue packet in the jar 8- put white packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put blue packet in the jar 8- put white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12820103992218347541.mp4"}
+{"uid":"17739023339047388340","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10278923152494248595.mp4"}
+{"uid":"9818890329631223103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the coffee cup in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1659441486228992913.mp4"}
+{"uid":"4425010871057374149","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":"8291379149476341327.mp4"}
+{"uid":"6746912595350688205","text":"\u003ctask:success:discrete:True\u003e\nput the browine packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the browine packet in the jar\n\u003c/PRED\u003e","video":"13073529378049258039.mp4"}
+{"uid":"11914485069859143166","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16153003991326130906.mp4"}
+{"uid":"9773730763589124690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3666030727971250952.mp4"}
+{"uid":"15152184309507687228","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":"12916780604506065458.mp4"}
+{"uid":"17219813794418901826","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet into jar 2- put blue packet in the jar 3- put a packet into jar 4- done\n\u003c/PRED\u003e","video":"7381704046531747882.mp4"}
+{"uid":"17783553145557182045","text":"\u003ctask:success:discrete:True\u003e\nput the blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put the blue packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put the blue packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5849240130022338654.mp4"}
+{"uid":"3855409046408113119","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put blue packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet in the jar 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar Q: immediate next step? \u003cPRED\u003eA: put blue packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7478349447473199720.mp4"}
+{"uid":"12521273262801396373","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put blue packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the jar 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put blue packet in the jar Q: immediate next step? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e","video":"15041998232798367473.mp4"}
+{"uid":"17905148704568570684","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar Q: immediate next step? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet into jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e","video":"1145982408699595929.mp4"}
+{"uid":"15694002013466296925","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop corn ball in paper 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":"15169920277498730035.mp4"}
+{"uid":"15553996799078092033","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":"11887060661988572464.mp4"}
+{"uid":"1581252838340872210","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet into jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6017672676785560544.mp4"}
+{"uid":"16062344658349920509","text":"\u003ctask:success:discrete:True\u003e\nput white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the jar 2- put blue packet in the jar 3- put a packet into jar 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar Q: immediate next step? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e","video":"7929080822493899965.mp4"}
+{"uid":"14773483315899085888","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet into jar 2- put blue packet in the jar 3- put a packet into jar 4- done\n\u003c/PRED\u003e","video":"3225541007184932900.mp4"}
+{"uid":"7613201247174790537","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet into jar 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar Q: immediate next step? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a packet into jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e","video":"11985122594583413374.mp4"}
+{"uid":"16300410921955030583","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin Q: immediate next step? \u003cPRED\u003eA: throw a paper glass into dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- throw a paper glass into dustbin 2- put white packet in the jar 3- put a packet into jar 4- put a packet into jar 5- put blue packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw a paper glass into dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw a paper glass into dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow a paper glass into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: throw a paper glass into dustbin\n\u003c/PRED\u003e","video":"5843184756463743192.mp4"}
+{"uid":"18231050936412459551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPull the red pen drawer backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7708062642848533569.mp4"}
+{"uid":"12726606600917406993","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the jar 2- put blue packet in the jar 3- put a packet into jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e","video":"17609574558431816690.mp4"}
+{"uid":"5722852665490469184","text":"\u003ctask:success:discrete:True\u003e\nthrow a paper glass into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw a paper glass into dustbin\n\u003c/PRED\u003e","video":"5848824485457916492.mp4"}
+{"uid":"8002583988315455380","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet into jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16421449951079175629.mp4"}
+{"uid":"16133047201050070543","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: throw the cup in the trash bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin Q: immediate next step? \u003cPRED\u003eA: throw the cup in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the cup in the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the cup in the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- throw the cup in the trash bin 2- put white packet in the jar 3- put a packet into jar 4- put a packet into jar 5- put blue packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the cup 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":"8641277594599319860.mp4"}
+{"uid":"9021389420993298859","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put blue packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put blue packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue packet in the jar\n\u003c/PRED\u003e","video":"11336812731987134916.mp4"}
+{"uid":"72460878806336259","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstick 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":"16849514400259196841.mp4"}
+{"uid":"13090746028058422625","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw a paper glass into dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthrow a paper glass into dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw a paper glass into dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin Q: immediate next step? \u003cPRED\u003eA: throw a paper glass into dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: throw a paper glass into dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow a paper glass into dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- throw a paper glass into dustbin 2- throw the cup in the trash bin 3- put white packet in the jar 4- put a packet into jar 5- put a packet into jar\n\u003c/PRED\u003e","video":"16014408123525151156.mp4"}
+{"uid":"224009399379213034","text":"\u003ctask:success:discrete:True\u003e\nput the browine packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the browine packet in the jar\n\u003c/PRED\u003e","video":"17821182678993765609.mp4"}
+{"uid":"6235738271557149428","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12363238173832285016.mp4"}
+{"uid":"16630990735711694011","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the browine packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the browine packet in the jar 2- put blue packet in the jar 3- put a packet into jar 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the browine packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the browine packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the browine packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the browine packet in the jar\n\u003c/PRED\u003e","video":"5799008807026133544.mp4"}
+{"uid":"14905283540700239685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17939103950864634318.mp4"}
+{"uid":"5138766676850477013","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10684180053826911565.mp4"}
+{"uid":"1443825463678741647","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the crushed paper in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the crushed paper in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12675544951372053540.mp4"}
+{"uid":"14484091256279669223","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put blue packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the jar 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put blue packet in the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e","video":"15701382559735062743.mp4"}
+{"uid":"2491463409881704893","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14558702942351561873.mp4"}
+{"uid":"5183905828716680319","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put blue packet in the jar 8- put the white packet in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put blue packet in the jar 8- put the white packet in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14706146460143865816.mp4"}
+{"uid":"623691733631842742","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put a packet into jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet into jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin 4- put white packet in the jar 5- put a packet into jar 6- put a packet into jar 7- put a packet into jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8258084139174105973.mp4"}
+{"uid":"3680946577355537033","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6418633551037789372.mp4"}
+{"uid":"17053397158391580754","text":"\u003ctask:success:discrete:True\u003e\nput white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e","video":"8311246062391466932.mp4"}
+{"uid":"541012158422497497","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the silver scoop inside 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":"14457783185533588.mp4"}
+{"uid":"1598151652192027705","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet into jar 2- put a packet into jar 3- put a packet into jar 4- put blue packet in the jar 5- put a packet into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin Q: immediate next step? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put a packet into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a packet into jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4740359032807336144.mp4"}
+{"uid":"7140703392020094654","text":"\u003ctask:success:discrete:False\u003e\nthrow the cup 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the paper in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: throw the cup in the trash bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthrow the paper 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: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin Q: immediate next step? \u003cPRED\u003eA: throw the cup in the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: throw the cup in the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nthrow the cup 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- throw the cup in the trash bin 2- throw the cup in the trash bin 3- put white packet in the jar 4- put a packet into jar 5- put a packet into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: throw the cup in the trash bin\n\u003c/PRED\u003e","video":"6106716219091291409.mp4"}
+{"uid":"10753324082792599603","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note 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":"4965329512256007710.mp4"}
+{"uid":"8898734776353889444","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5546505362293594671.mp4"}
+{"uid":"1235256101411516641","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17038021863571528639.mp4"}
+{"uid":"21825609923132666","text":"\u003ctask:success:discrete:True\u003e\nthrow the cup in the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: throw the cup in the trash bin\n\u003c/PRED\u003e","video":"18134966466854084101.mp4"}
+{"uid":"14038047143433828765","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar Q: immediate next step? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin Q: immediate next step? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: throw away the garbage on my desk, then put the snacks back into the jar. last 20 steps: 1- throw a paper into dustbin 2- throw a paper glass into dustbin 3- throw the cup in the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- put white packet in the jar 2- put a packet into jar 3- put a packet into jar 4- put blue packet in the jar 5- put a packet into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput white packet in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white packet in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9740916839124241088.mp4"}
+{"uid":"1586393796918863724","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fruits in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10431103179626213860.mp4"}
+{"uid":"9912117239502009569","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- 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 tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"1740403657151036007.mp4"}
+{"uid":"9172249037667673527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the jar with lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14159717238374708806.mp4"}
+{"uid":"496651187877776665","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14672409724004140656.mp4"}
+{"uid":"11807712922168170251","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":"15717033318519265213.mp4"}
+{"uid":"17748908637835066675","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"578143237112183867.mp4"}
+{"uid":"3332103479853305454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"518953951651043205.mp4"}
+{"uid":"4259490663115634902","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":"3930278940116033122.mp4"}
+{"uid":"8196666158436122775","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the grapes in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place the grapes in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl 6- place orange in the bowl 7- place banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the grapes in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the grapes in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the grapes 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 grapes 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 place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl 6- place orange in the bowl 7- place banana in the bowl Q: immediate next step? \u003cPRED\u003eA: place the grapes in the bowl\n\u003c/PRED\u003e","video":"10053520757958382498.mp4"}
+{"uid":"10900816626843183759","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4210723449776614542.mp4"}
+{"uid":"1356114308365260000","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":"9582924443606629940.mp4"}
+{"uid":"3530680416705492813","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":"5322942216463652648.mp4"}
+{"uid":"15277329781355293738","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":"13106961600501788625.mp4"}
+{"uid":"10463084901025413884","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the green fruit on the table 3- place the yellow fruit on the table 4- place the banana on the table 5- Adjust the yellow fruit\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e","video":"7483552512097375104.mp4"}
+{"uid":"16540592036629652550","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a nut in a paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12822410596401672006.mp4"}
+{"uid":"10261116876762303554","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- place apple in the bowl 3- place orange in the bowl 4- place apple in the bowl 5- place orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\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","video":"280574138782855.mp4"}
+{"uid":"4286316502527645329","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput grapes 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 place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl 6- place orange in the bowl 7- place banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put grapes in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl 6- place orange in the bowl 7- place banana in the bowl Q: immediate next step? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput grapes 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":"7088678026025456162.mp4"}
+{"uid":"7652804144567831536","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"14002320255274329561.mp4"}
+{"uid":"15842839703454439099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chair inside the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5555308686315033711.mp4"}
+{"uid":"6298853219880164922","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4891709975829624212.mp4"}
+{"uid":"2821094748317798464","text":"\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 place the fruits in 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 place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- 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 place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- place banana in the bowl 3- put grapes in the bowl 4- done\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","video":"17134300712060257707.mp4"}
+{"uid":"11079142493523251360","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table 5- place the banana on the table Q: immediate next step? \u003cPRED\u003eA: Adjust the yellow fruit\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the yellow fruit\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the yellow fruit\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table 5- place the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the yellow fruit 2- place the banana on the table 3- place the banana on the table 4- place the orange on the table 5- place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Adjust the yellow fruit\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust the yellow fruit Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the yellow fruit Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3858539354718339120.mp4"}
+{"uid":"3143681289098319124","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15205309296664935439.mp4"}
+{"uid":"7366012373229070432","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 green fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the green fruit on the table 2- place the yellow fruit on the table 3- place the banana on the table 4- Adjust the yellow fruit 5- place the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the green fruit on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green fruit on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the green fruit on the table\n\u003c/PRED\u003e","video":"7946760312105481503.mp4"}
+{"uid":"2914513180022768022","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table 5- place the banana on the table 6- Adjust the yellow fruit 7- place the banana on the table Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table 5- place the banana on the table 6- Adjust the yellow fruit 7- place the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- place the orange on the table 3- place the orange on the table 4- place the green fruit on the table 5- place the banana on the table\n\u003c/PRED\u003e","video":"1705910946789553216.mp4"}
+{"uid":"2919454358027465844","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put 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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange in the bowl 2- place apple in the bowl 3- place orange in the bowl 4- place apple in the bowl 5- place orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e","video":"4676608238144194299.mp4"}
+{"uid":"15844886129483684917","text":"\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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 place the fruits in 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 apple in the bowl 4- place orange in the bowl 5- place apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in 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","video":"4783458827342744970.mp4"}
+{"uid":"16238918356003443069","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15348735674039427635.mp4"}
+{"uid":"8540235274600922681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl at the edge 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":"16387402584288469873.mp4"}
+{"uid":"9145603120458150353","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table 5- place the banana on the table 6- Adjust the yellow fruit 7- place the banana on the table 8- place the banana on the table 9- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the green fruit on the table 3- place the banana on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table 5- place the banana on the table 6- Adjust the yellow fruit 7- place the banana on the table 8- place the banana on the table 9- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e","video":"2833021448106287265.mp4"}
+{"uid":"5434432123247293278","text":"\u003ctask:success:discrete:False\u003e\nplace the 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\nplace the 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 place the fruits in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange 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: place the apple in the bowl\n\u003c/PRED\u003e","video":"1481890703530282944.mp4"}
+{"uid":"6103578001549212193","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple in the bowl\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","video":"11798935086658051429.mp4"}
+{"uid":"18305551809977693959","text":"\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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in 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 place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange in the bowl 2- place apple in the bowl 3- place orange in the bowl 4- place banana in the bowl 5- put grapes in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e","video":"15022679744138777418.mp4"}
+{"uid":"8269403548701534068","text":"\u003ctask:success:discrete:False\u003e\nput orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 place the fruits in 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 place the fruits in the bowl. last 20 steps: 1- put apple in 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- place apple in the bowl 3- place orange in the bowl 4- place apple in the bowl 5- place orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e","video":"3178425245739241431.mp4"}
+{"uid":"7334151465224107817","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table 5- place the banana on the table 6- Adjust the yellow fruit 7- place the banana on the table 8- place the banana on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table 5- place the banana on the table 6- Adjust the yellow fruit 7- place the banana on the table 8- place the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the banana on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e","video":"643949481145726663.mp4"}
+{"uid":"4097452104599807058","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits in 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in the bowl 2- place apple in the bowl 3- place orange in the bowl 4- place banana in the bowl 5- put grapes 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: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":"3083089351187294437.mp4"}
+{"uid":"388371057196732302","text":"\u003ctask:success:discrete:False\u003e\nput apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- place orange in the bowl 3- place apple 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 apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11378323280073489857.mp4"}
+{"uid":"2972726415662582427","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":"10654950195930517970.mp4"}
+{"uid":"5962341361775936452","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange a blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6515012237479753825.mp4"}
+{"uid":"448521698486661942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the brown object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15247840866161715885.mp4"}
+{"uid":"18239425782222180752","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":"13630143555976705383.mp4"}
+{"uid":"17972174396489894062","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple in the bowl\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","video":"18231161283854196023.mp4"}
+{"uid":"14343084215602252307","text":"\u003ctask:success:discrete:True\u003e\nplace the 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: place the orange in the bowl\n\u003c/PRED\u003e","video":"4404565991191892494.mp4"}
+{"uid":"3977820095709217211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6454297165544156767.mp4"}
+{"uid":"5669725893362008398","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":"13406511153253112283.mp4"}
+{"uid":"7937615353022609653","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue on the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3033601451258316078.mp4"}
+{"uid":"150799187468527205","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table Q: immediate next step? \u003cPRED\u003eA: place the yellow fruit on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow fruit on the table 2- place the banana on the table 3- Adjust the yellow fruit 4- place the banana on the table 5- place the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the yellow fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow fruit 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 yellow fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow fruit on the table\n\u003c/PRED\u003e","video":"10566149631861161633.mp4"}
+{"uid":"12356568645952567712","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":"7441103419258843943.mp4"}
+{"uid":"4458178845341397962","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"16073720447796750879.mp4"}
+{"uid":"17158329131056719277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove spoon holder 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":"9088846331339177625.mp4"}
+{"uid":"1664558879672735304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a brown paper in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12652546225193197352.mp4"}
+{"uid":"682806347385993480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brown belt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12524254443220875297.mp4"}
+{"uid":"11037103598185691350","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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 place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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 place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place banana in the bowl\n\u003c/PRED\u003e","video":"12371886384960050312.mp4"}
+{"uid":"7936169307408873936","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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 place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place orange in the bowl 3- place banana in the bowl 4- put grapes in the bowl 5- done\n\u003c/PRED\u003e","video":"10632773232534035775.mp4"}
+{"uid":"14652241139328185725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1135290762014093782.mp4"}
+{"uid":"1229261707335707427","text":"\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:planning:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. Q: immediate next step? \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 place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl 6- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- put grapes in the bowl 3- done\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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl 6- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"13616255286114951714.mp4"}
+{"uid":"16746934665827446726","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e","video":"3820499687900117312.mp4"}
+{"uid":"2698423404316057556","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- done\n\u003c/PRED\u003e","video":"5620853985722973614.mp4"}
+{"uid":"12303811428500868488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7910831739329195448.mp4"}
+{"uid":"10755653918567319084","text":"\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:planning:freeform\u003e\ncurrent goal is: please place the fruits in 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl Q: immediate next step? \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 place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange in the bowl 2- place banana in the bowl 3- put grapes in the bowl 4- done\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","video":"12126652373733957086.mp4"}
+{"uid":"15017661722824089042","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":"5738525636266096292.mp4"}
+{"uid":"10577809540646788819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the plastic spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11064630998450430888.mp4"}
+{"uid":"17798674601522489462","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm 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":"2224476256200534235.mp4"}
+{"uid":"10842574020057865740","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5349243168044811466.mp4"}
+{"uid":"8050984230355930986","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits 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 place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place apple in the bowl 2- place orange in the bowl 3- place apple 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: 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange 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","video":"12856689400006068997.mp4"}
+{"uid":"5494621052251489797","text":"\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","video":"957284824113796158.mp4"}
+{"uid":"14192780399761839577","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\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: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:planning:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- place apple in the bowl 3- place orange in the bowl 4- place banana in the bowl 5- put grapes in the bowl\n\u003c/PRED\u003e","video":"15417276454501310293.mp4"}
+{"uid":"8261561532494827466","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"14378073733833723541.mp4"}
+{"uid":"12343556318391773720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9358332129010374513.mp4"}
+{"uid":"4294234294168162008","text":"\u003ctask:success:discrete:True\u003e\nplace the 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 the apple in the bowl\n\u003c/PRED\u003e","video":"7160191616516603229.mp4"}
+{"uid":"6487974145624016521","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12157945882768292557.mp4"}
+{"uid":"7087067312011129243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a brown sugar packet inside the organizer 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":"3776604558262231845.mp4"}
+{"uid":"948491199951982739","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"195158720151568319.mp4"}
+{"uid":"7312240041662763476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange 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":"3807143725075989963.mp4"}
+{"uid":"8261734654822864281","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":"35603883306032351.mp4"}
+{"uid":"12021087888061954298","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table 5- place the banana on the table 6- Adjust the yellow fruit Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- place the banana on the table 3- place the orange on the table 4- place the orange on the table 5- place the green fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table 5- place the banana on the table 6- Adjust the yellow fruit Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14722475840112617005.mp4"}
+{"uid":"9411415423430585223","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- Adjust the yellow fruit 3- place the banana on the table 4- place the banana on the table 5- place the orange on the table\n\u003c/PRED\u003e","video":"17603238792348576877.mp4"}
+{"uid":"13382067900582955439","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green fruit 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 green fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the green fruit on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table 5- place the banana on the table 6- Adjust the yellow fruit 7- place the banana on the table 8- place the banana on the table 9- place the orange on the table 10- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the green fruit on the table 2- place the banana on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table 5- place the banana on the table 6- Adjust the yellow fruit 7- place the banana on the table 8- place the banana on the table 9- place the orange on the table 10- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the green fruit on the table\n\u003c/PRED\u003e","video":"6039136518242444630.mp4"}
+{"uid":"15338183417600887053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6655367151750857384.mp4"}
+{"uid":"2298098909353736024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10076547804413189571.mp4"}
+{"uid":"3014042309653481365","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table 5- place the banana on the table 6- Adjust the yellow fruit 7- place the banana on the table 8- place the banana on the table 9- place the orange on the table 10- place the orange on the table 11- place the green fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana 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 banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table 5- place the banana on the table 6- Adjust the yellow fruit 7- place the banana on the table 8- place the banana on the table 9- place the orange on the table 10- place the orange on the table 11- place the green fruit on the table Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e","video":"17211897563541359209.mp4"}
+{"uid":"10821506753982602337","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl 6- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl 6- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in the bowl 2- put grapes in the bowl 3- done\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in the bowl\n\u003c/PRED\u003e","video":"1980364783699958970.mp4"}
+{"uid":"4609522601459151477","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the orange on the table 3- place the green fruit on the table 4- place the yellow fruit on the table 5- place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2550561413486144389.mp4"}
+{"uid":"15627242602733312393","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4322601562173656735.mp4"}
+{"uid":"11455290026779422724","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":"2608851760608068561.mp4"}
+{"uid":"14272677388181017478","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 place the fruits in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. Q: immediate next step? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in 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 apple in the bowl 4- place orange in the bowl 5- 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","video":"14421973716791167586.mp4"}
+{"uid":"2420091440085349579","text":"\u003ctask:success:discrete:True\u003e\nplace the 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: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange in the bowl\n\u003c/PRED\u003e\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","video":"7287610012551142189.mp4"}
+{"uid":"899812518463527476","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace grapes 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 place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl 6- place orange in the bowl 7- place banana in the bowl Q: immediate next step? \u003cPRED\u003eA: place grapes in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place grapes in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place grapes in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl 6- place orange in the bowl 7- place banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place grapes in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace grapes 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 grapes in the bowl\n\u003c/PRED\u003e","video":"10092249775678699500.mp4"}
+{"uid":"14237345965030931712","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- place banana in the bowl 3- put grapes in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\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","video":"11976647424717291017.mp4"}
+{"uid":"1615093348449781693","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":"2211567867940820541.mp4"}
+{"uid":"14538464022679062867","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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","video":"8118797801484283113.mp4"}
+{"uid":"14738035705015044761","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the oatmeal packets into the tray. last 20 steps: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"802114142928289025.mp4"}
+{"uid":"4627056165021038632","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the green fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the green fruit 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":"11946773727168441726.mp4"}
+{"uid":"18099251937924307769","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange 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 place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place apple 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: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: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 place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place apple in the bowl 2- place orange in the bowl 3- place banana in the bowl 4- put grapes in the bowl 5- 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":"971498970365130064.mp4"}
+{"uid":"5193443600332179976","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10410572364946830109.mp4"}
+{"uid":"868908305208016177","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green chips packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17501192299838287990.mp4"}
+{"uid":"13439169853875993727","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass 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":"2392195295251709798.mp4"}
+{"uid":"12586389133242616198","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple in the bowl\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","video":"15726546817404397753.mp4"}
+{"uid":"16352058057915445504","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":"1819937530962183839.mp4"}
+{"uid":"16545942393528621908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the umbrella on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3768017330738211084.mp4"}
+{"uid":"3636212344352598057","text":"\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 place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl 6- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place banana in the bowl 2- put grapes in the bowl 3- done\n\u003c/PRED\u003e\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:planning:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl 5- place apple in the bowl 6- place orange in the bowl Q: immediate next step? \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: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","video":"10252070830071538869.mp4"}
+{"uid":"1465784653088428398","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange 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:planning:freeform\u003e\ncurrent goal is: please place the fruits in 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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits in the bowl. last 20 steps: 1- put apple in the bowl 2- place orange in the bowl 3- place apple in the bowl 4- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- place orange in the bowl 3- place banana in the bowl 4- put grapes in the bowl 5- done\n\u003c/PRED\u003e","video":"17939217688803869537.mp4"}
+{"uid":"5395779480893814278","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy on the candy Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3764693240615413189.mp4"}
+{"uid":"1514823360148519711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"13678225491542984938.mp4"}
+{"uid":"994158861918137274","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green glass in the draw\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green glass in the draw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green glass in the draw\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly Q: immediate next step? \u003cPRED\u003eA: place green glass in the draw\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green glass in the draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open the drawer 2- place  green brush in the draw 3- arrange the green brush in the draw 4- place the plate in the draw 5- place green glass downside Q: next 5 steps? \u003cPRED\u003eA: 1- place green glass in the draw 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open the drawer 2- place  green brush in the draw 3- arrange the green brush in the draw 4- place the plate in the draw 5- place green glass downside Q: immediate next step? \u003cPRED\u003eA: place green glass in the draw\n\u003c/PRED\u003e","video":"1525150763657461066.mp4"}
+{"uid":"17696297252038593222","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a candy into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13770776107946292556.mp4"}
+{"uid":"17529306759194267012","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":"11240946935230753447.mp4"}
+{"uid":"3390405336478941652","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":"14102266123137236415.mp4"}
+{"uid":"4595366013014016342","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the notepad in the tray 2- Place the notepad in the tray 3- Place the blue pen in the tray 4- Place the black pen in the tray 5- Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the notepad in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the notepad in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the notepad 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 notepad in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray Q: immediate next step? \u003cPRED\u003eA: Place the notepad in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the notepad in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11158193468572076493.mp4"}
+{"uid":"15286943733787740805","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pen in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the tray 2- Place the black pen in the tray 3- Place the blue pen in the tray 4- Place the blue pen in the tray 5- Place the blue pen in the tray\n\u003c/PRED\u003e","video":"13955738236429908284.mp4"}
+{"uid":"17054334072176673199","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the cardboard 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 stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray 14- Place the small blinder clip in the tray 15- Place the small blinder clip in the tray 16- Place the small blinder clip in the tray 17- Place the small blinder clip in the tray 18- Place the small blinder clip in the tray Q: immediate next step? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the cardboard 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 cardboard drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray 14- Place the small blinder clip in the tray 15- Place the small blinder clip in the tray 16- Place the small blinder clip in the tray 17- Place the small blinder clip in the tray 18- Place the small blinder clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Open the cardboard drawer 2- Place the tray in the cardboard drawer 3- Close the cardboard drawer 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e","video":"14455870230001898663.mp4"}
+{"uid":"444334379467743673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11518743439888231671.mp4"}
+{"uid":"6553436781977465856","text":"\u003ctask:success:discrete:True\u003e\nplace the plate in the draw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 draw\n\u003c/PRED\u003e","video":"11835997129434520720.mp4"}
+{"uid":"4992272902370475679","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green glass downside\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly Q: immediate next step? \u003cPRED\u003eA: place green glass downside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green glass downside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open the drawer 2- place  green brush in the draw 3- arrange the green brush in the draw 4- place the plate in the draw Q: next 5 steps? \u003cPRED\u003eA: 1- place green glass downside 2- place green glass in the draw 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green glass downside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green glass downside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open the drawer 2- place  green brush in the draw 3- arrange the green brush in the draw 4- place the plate in the draw Q: immediate next step? \u003cPRED\u003eA: place green glass downside\n\u003c/PRED\u003e","video":"1886466154959302234.mp4"}
+{"uid":"6033616622101644081","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the tray 2- Place the blue pen in the tray 3- Place the black pen in the tray 4- Place the blinder clip in the tray 5- Place the blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e","video":"4224701975256797469.mp4"}
+{"uid":"2672090853828180715","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":"12006653479410179371.mp4"}
+{"uid":"6117845078413795228","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6964534122148959422.mp4"}
+{"uid":"11277882036245334636","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the green marker in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray Q: immediate next step? \u003cPRED\u003eA: Place the green marker in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green marker in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green marker in the tray 2- Place the notepad in the tray 3- Place the notepad in the tray 4- Place the blue pen in the tray 5- Place the black pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green marker in the tray\n\u003c/PRED\u003e","video":"18156346902746306841.mp4"}
+{"uid":"13579864891121450610","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":"4854065073584322673.mp4"}
+{"uid":"15137738399984361071","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plate in the draw\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open the drawer 2- place  green brush in the draw 3- arrange the green brush in the draw Q: next 5 steps? \u003cPRED\u003eA: 1- place the plate in the draw 2- place green glass downside 3- place green glass in the draw 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly Q: immediate next step? \u003cPRED\u003eA: place the plate in the draw\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plate in the draw\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plate in the draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open the drawer 2- place  green brush in the draw 3- arrange the green brush in the draw Q: immediate next step? \u003cPRED\u003eA: place the plate in the draw\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plate in the draw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4276534651018054152.mp4"}
+{"uid":"1543754235257940513","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut paper bag in the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13455293709161236357.mp4"}
+{"uid":"11102745048438797093","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray 14- Place the small blinder clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the small blinder clip in the tray 2- Place the small blinder clip in the tray 3- Place the small blinder clip in the tray 4- Place the small blinder clip in the tray 5- Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray 14- Place the small blinder clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the small blinder clip 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":"7019798084860289976.mp4"}
+{"uid":"6511911646540863224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack up 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":"12228416969533047919.mp4"}
+{"uid":"2945790607644804769","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the tray 2- Place the black pen in the tray 3- Place the blinder clip in the tray 4- Place the blinder clip in the tray 5- Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pen in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e","video":"15149433887846262553.mp4"}
+{"uid":"5323910429598884203","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the small blinder clip 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 small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray 14- Place the small blinder clip in the tray 15- Place the small blinder clip in the tray 16- Place the small blinder clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray 14- Place the small blinder clip in the tray 15- Place the small blinder clip in the tray 16- Place the small blinder clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the small blinder clip in the tray 2- Place the small blinder clip in the tray 3- Open the cardboard drawer 4- Place the tray in the cardboard drawer 5- Close the cardboard drawer\n\u003c/PRED\u003e","video":"7068685501932371243.mp4"}
+{"uid":"6665806176104099487","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  green brush in the draw\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly Q: immediate next step? \u003cPRED\u003eA: place  green brush in the draw\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place  green brush in the draw\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place  green brush in the draw 2- arrange the green brush in the draw 3- place the plate in the draw 4- place green glass downside 5- place green glass in the draw\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace  green brush in the draw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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  green brush in the draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  green brush in the draw\n\u003c/PRED\u003e","video":"14713687720111379484.mp4"}
+{"uid":"5424359902934584968","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the scrubber 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":"9060958587480134930.mp4"}
+{"uid":"16613624657510209642","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open the drawer 2- place  green brush in the draw Q: immediate next step? \u003cPRED\u003eA: arrange the green brush in the draw\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open the drawer 2- place  green brush in the draw Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the green brush in the draw 2- place the plate in the draw 3- place green glass downside 4- place green glass in the draw 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the green brush in the draw\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the green brush in the draw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 all the green dishware back into the drawer neatly Q: immediate next step? \u003cPRED\u003eA: arrange the green brush in the draw\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the green brush in the draw Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 green brush in the draw\n\u003c/PRED\u003e","video":"8648360209556672749.mp4"}
+{"uid":"4234736798336099065","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":"15445901192842995157.mp4"}
+{"uid":"14342409000854716611","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13306683547586998669.mp4"}
+{"uid":"13701202628198559797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the candy 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":"8843125301850376652.mp4"}
+{"uid":"257292947473374166","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place  green brush in the draw 3- arrange the green brush in the draw 4- place the plate in the draw 5- place green glass downside\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: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 all the green dishware back into the drawer neatly 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"9169253522007975462.mp4"}
+{"uid":"11047576792553143725","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tray in the cardboard drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray 14- Place the small blinder clip in the tray 15- Place the small blinder clip in the tray 16- Place the small blinder clip in the tray 17- Place the small blinder clip in the tray 18- Place the small blinder clip in the tray 19- Open the cardboard drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tray in the cardboard drawer 2- Close the cardboard drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tray in the cardboard 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 stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray 14- Place the small blinder clip in the tray 15- Place the small blinder clip in the tray 16- Place the small blinder clip in the tray 17- Place the small blinder clip in the tray 18- Place the small blinder clip in the tray 19- Open the cardboard drawer Q: immediate next step? \u003cPRED\u003eA: Place the tray in the cardboard drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tray in the cardboard 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 stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the tray in the cardboard drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tray in the cardboard drawer\n\u003c/PRED\u003e","video":"14555133366948603176.mp4"}
+{"uid":"13341045600024902215","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray 14- Place the small blinder clip in the tray 15- Place the small blinder clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the small blinder clip in the tray 2- Place the small blinder clip in the tray 3- Place the small blinder clip in the tray 4- Open the cardboard drawer 5- Place the tray in the cardboard drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray 14- Place the small blinder clip in the tray 15- Place the small blinder clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the small blinder clip 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":"6234649198480314223.mp4"}
+{"uid":"6659840595566172342","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the black pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the black pen in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the black pen in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the black pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the black pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the black pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the black pen in the tray 2- Place the blue pen in the tray 3- Place the blue pen in the tray 4- Place the blue pen in the tray 5- Place the black pen in the tray\n\u003c/PRED\u003e","video":"15877774882463076327.mp4"}
+{"uid":"16274420419204642462","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":"5213696724918552535.mp4"}
+{"uid":"14744404823176821103","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue marker in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue marker in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the blue marker in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the blue marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue marker in the tray\n\u003c/PRED\u003e","video":"7711051834624698515.mp4"}
+{"uid":"3919162075721365902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17304030607385635256.mp4"}
+{"uid":"16157897764534003356","text":"\u003ctask:success:discrete:True\u003e\nClose the cardboard drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the yellow marker in the tray 2- Place the green marker in the tray 3- Place the notepad in the tray 4- Place the notepad in the tray 5- Place the blue pen in the tray 6- Place the black pen in the tray 7- Place the blue pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the black pen in the tray 11- Place the blinder clip in the tray 12- Place the blinder clip in the tray 13- Place the small blinder clip in the tray 14- Place the small blinder clip in the tray 15- Place the small blinder clip in the tray 16- Place the small blinder clip in the tray 17- Place the small blinder clip in the tray 18- Open the cardboard drawer 19- Place the tray in the cardboard drawer 20- Close the cardboard drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the cardboard drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the yellow marker in the tray 2- Place the green marker in the tray 3- Place the notepad in the tray 4- Place the notepad in the tray 5- Place the blue pen in the tray 6- Place the black pen in the tray 7- Place the blue pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the black pen in the tray 11- Place the blinder clip in the tray 12- Place the blinder clip in the tray 13- Place the small blinder clip in the tray 14- Place the small blinder clip in the tray 15- Place the small blinder clip in the tray 16- Place the small blinder clip in the tray 17- Place the small blinder clip in the tray 18- Open the cardboard drawer 19- Place the tray in the cardboard drawer 20- Close the cardboard drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4521906824378653700.mp4"}
+{"uid":"737714873549795784","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5270068572213600377.mp4"}
+{"uid":"5997362290657718445","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the small blinder clip 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 small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray 14- Place the small blinder clip in the tray 15- Place the small blinder clip in the tray 16- Place the small blinder clip in the tray 17- Place the small blinder clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the small blinder clip in the tray 2- Open the cardboard drawer 3- Place the tray in the cardboard drawer 4- Close the cardboard drawer 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray 14- Place the small blinder clip in the tray 15- Place the small blinder clip in the tray 16- Place the small blinder clip in the tray 17- Place the small blinder clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e","video":"18441480620064568101.mp4"}
+{"uid":"17619108543408765331","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4188906990234180673.mp4"}
+{"uid":"2627405480180161405","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open the drawer 2- place  green brush in the draw 3- arrange the green brush in the draw 4- place the plate in the draw 5- place green glass downside 6- place green glass in the draw Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly. last 20 steps: 1- open the drawer 2- place  green brush in the draw 3- arrange the green brush in the draw 4- place the plate in the draw 5- place green glass downside 6- place green glass in the draw Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green glass in the draw Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 glass in the draw\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the green dishware back into the drawer neatly Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"18008735489805305328.mp4"}
+{"uid":"2479294282948952192","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":"11278146053127209500.mp4"}
+{"uid":"14889521949754420667","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":"14240280209042376086.mp4"}
+{"uid":"3856621357098073098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown cable 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":"2976799529689055633.mp4"}
+{"uid":"2386270860103636016","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tissue paper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5067560558203312194.mp4"}
+{"uid":"3451866198551020192","text":"\u003ctask:success:discrete:False\u003e\nPlace the black pen in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the black pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the black pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the black pen in the tray 2- Place the blinder clip in the tray 3- Place the blinder clip in the tray 4- Place the small blinder clip in the tray 5- Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the black pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the black pen in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the black pen in the tray\n\u003c/PRED\u003e","video":"683328437255413485.mp4"}
+{"uid":"11405741267960431784","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":"17689682336269139289.mp4"}
+{"uid":"18085605754269152138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knife 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":"17513373473059915718.mp4"}
+{"uid":"6410073032075202528","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":"8796006563883480609.mp4"}
+{"uid":"6289013494077283219","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blinder clip in the tray 2- Place the small blinder clip in the tray 3- Place the small blinder clip in the tray 4- Place the small blinder clip in the tray 5- Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blinder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the blinder clip in the tray\n\u003c/PRED\u003e","video":"9872643304348900684.mp4"}
+{"uid":"5681230264462910001","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blinder clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blinder clip in the tray 2- Place the blinder clip in the tray 3- Place the small blinder clip in the tray 4- Place the small blinder clip in the tray 5- Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blinder clip 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":"3806691012147583600.mp4"}
+{"uid":"1701085480900510910","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the small blinder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the small blinder clip in the tray 2- Place the small blinder clip in the tray 3- Place the small blinder clip in the tray 4- Place the small blinder clip in the tray 5- Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the small blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the small blinder clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8212619350245227966.mp4"}
+{"uid":"994699789382632470","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":"5442582334039308241.mp4"}
+{"uid":"9783611022827653975","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the tray in the cardboard drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray 14- Place the small blinder clip in the tray 15- Place the small blinder clip in the tray 16- Place the small blinder clip in the tray 17- Place the small blinder clip in the tray 18- Place the small blinder clip in the tray 19- Open the cardboard drawer 20- Place the tray in the cardboard drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the cardboard drawer 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the tray in the cardboard drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Close the cardboard drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the cardboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the cardboard drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the cardboard 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 stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray 8- Place the blue pen in the tray 9- Place the blue pen in the tray 10- Place the blue pen in the tray 11- Place the black pen in the tray 12- Place the blinder clip in the tray 13- Place the blinder clip in the tray 14- Place the small blinder clip in the tray 15- Place the small blinder clip in the tray 16- Place the small blinder clip in the tray 17- Place the small blinder clip in the tray 18- Place the small blinder clip in the tray 19- Open the cardboard drawer 20- Place the tray in the cardboard drawer Q: immediate next step? \u003cPRED\u003eA: Close the cardboard drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the cardboard drawer\n\u003c/PRED\u003e","video":"8064248142684768658.mp4"}
+{"uid":"6935418610100474302","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace an orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15114381709230667253.mp4"}
+{"uid":"9689259171263702052","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the yellow marker in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow marker in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray Q: immediate next step? \u003cPRED\u003eA: Place the yellow marker in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow marker in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow marker in the tray 2- Place the green marker in the tray 3- Place the notepad in the tray 4- Place the notepad in the tray 5- Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow marker 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 yellow marker in the tray\n\u003c/PRED\u003e","video":"14199270836647749700.mp4"}
+{"uid":"16672824580601402813","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17696746448363328703.mp4"}
+{"uid":"9344725234250260047","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the notepad in the tray 2- Place the blue pen in the tray 3- Place the black pen in the tray 4- Place the blue pen in the tray 5- Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the notepad in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the notepad in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the notepad in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the notepad in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray Q: immediate next step? \u003cPRED\u003eA: Place the notepad in the tray\n\u003c/PRED\u003e","video":"8344725588831565726.mp4"}
+{"uid":"8403154792895047657","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue pen in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please stock up my cabinet tray with supplies than put it back into the cabinet for me. last 20 steps: 1- Place the blue marker in the tray 2- Place the yellow marker in the tray 3- Place the green marker in the tray 4- Place the notepad in the tray 5- Place the notepad in the tray 6- Place the blue pen in the tray 7- Place the black pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the tray 2- Place the blue pen in the tray 3- Place the blue pen in the tray 4- Place the black pen in the tray 5- Place the blinder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7646222906834720480.mp4"}
+{"uid":"13494189250281790747","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the yellow packet into the bowl 15- put the pink packets into the bowl 16- put the packets into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet into the bowl 2- put the green packet into the bowl 3- put the pink packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the yellow packet into the bowl 15- put the pink packets into the bowl 16- put the packets into the bowl Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e","video":"17649204372305988565.mp4"}
+{"uid":"6422535265456560460","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tong into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tong into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the blue packet in the mesh basket 2- put the white packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the packet in the mesh basket 5- put the yellow packets into the bowl 6- put the yellow packet into the bowl 7- put the yellow packet into the bowl 8- put the yellow packet into the bowl 9- put the yellow packet into the bowl 10- put the yellow packet into the bowl 11- put the pink packets into the bowl 12- put the packets into the bowl 13- put the pink packet into the bowl 14- put the green packet into the bowl 15- put the pink packet into the bowl 16- put the green packet into the bowl 17- put the green packet into the bowl 18- put the green packet into the bowl 19- put the green packet into the bowl 20- put the tong into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the tong into the holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the blue packet in the mesh basket 2- put the white packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the packet in the mesh basket 5- put the yellow packets into the bowl 6- put the yellow packet into the bowl 7- put the yellow packet into the bowl 8- put the yellow packet into the bowl 9- put the yellow packet into the bowl 10- put the yellow packet into the bowl 11- put the pink packets into the bowl 12- put the packets into the bowl 13- put the pink packet into the bowl 14- put the green packet into the bowl 15- put the pink packet into the bowl 16- put the green packet into the bowl 17- put the green packet into the bowl 18- put the green packet into the bowl 19- put the green packet into the bowl 20- put the tong into the holder Q: immediate next step? \u003cPRED\u003eA: put the tong into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the tong into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tong into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12972920606757521449.mp4"}
+{"uid":"16874821061511730980","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet in the mesh basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the mesh basket 2- put the blue packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the white packet in the mesh basket 5- put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in the mesh basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e","video":"7949804682274001078.mp4"}
+{"uid":"14087679552394772354","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the mesh basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the white packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the mesh basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the mesh basket 2- put the blue packet in the mesh basket 3- put the packet in the mesh basket 4- put the yellow packets into the bowl 5- put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket Q: immediate next step? \u003cPRED\u003eA: put the white packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the mesh basket\n\u003c/PRED\u003e","video":"3720881237239977966.mp4"}
+{"uid":"12139987356074467865","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the mesh basket 2- put the white packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the packet in the mesh basket 5- put the yellow packets into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in the mesh basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e","video":"3830685401139880496.mp4"}
+{"uid":"10337675303248966348","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11706749812831556243.mp4"}
+{"uid":"2149021099268246717","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8664999381951915118.mp4"}
+{"uid":"3831533661982401019","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace plastic 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":"7612572745588380522.mp4"}
+{"uid":"7474168327116738436","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6254978493319087755.mp4"}
+{"uid":"173231585503806825","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the blue packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the white packet in the mesh basket 6- put the blue packet in the mesh basket 7- put the packet in the mesh basket 8- put the yellow packets into the bowl 9- put the yellow packet into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the pink packets into the bowl 15- put the packets into the bowl 16- put the pink packet into the bowl 17- put the green packet into the bowl 18- put the pink packet into the bowl 19- put the green packet into the bowl 20- put the green packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet into the bowl 2- put the green packet into the bowl 3- put the tong into the holder 4- put the tong into the holder 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the blue packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the white packet in the mesh basket 6- put the blue packet in the mesh basket 7- put the packet in the mesh basket 8- put the yellow packets into the bowl 9- put the yellow packet into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the pink packets into the bowl 15- put the packets into the bowl 16- put the pink packet into the bowl 17- put the green packet into the bowl 18- put the pink packet into the bowl 19- put the green packet into the bowl 20- put the green packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e","video":"10689474175621729571.mp4"}
+{"uid":"1866329698368293461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candy in right side bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16190117127182664685.mp4"}
+{"uid":"1117158113245333759","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet into the bowl 2- put the yellow packet into the bowl 3- put the yellow packet into the bowl 4- put the pink packets into the bowl 5- put the packets into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e","video":"811561363547111275.mp4"}
+{"uid":"6114729897687383610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4678857091971049304.mp4"}
+{"uid":"4560856929679084375","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packets into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packets into the bowl 2- put the yellow packet into the bowl 3- put the yellow packet into the bowl 4- put the yellow packet into the bowl 5- put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the yellow packets into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packets into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket Q: immediate next step? \u003cPRED\u003eA: put the yellow packets into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow packets into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packets into the bowl\n\u003c/PRED\u003e","video":"2831661257972358802.mp4"}
+{"uid":"9014794966067444961","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13582592074978342994.mp4"}
+{"uid":"4253895710644793674","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the mesh basket 2- put the blue packet in the mesh basket 3- put the white packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in the mesh basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3813864413913866264.mp4"}
+{"uid":"500009325133350643","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red packet in the mesh basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the red packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket Q: immediate next step? \u003cPRED\u003eA: put the red packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the red packet in the mesh basket 2- put the blue packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the white packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red packet in the mesh basket\n\u003c/PRED\u003e","video":"2982270946019174763.mp4"}
+{"uid":"11954871665257737247","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop chocolate ball on 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":"13931031262403545886.mp4"}
+{"uid":"13116689905966495594","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the yellow packet into the bowl 15- put the pink packets into the bowl 16- put the packets into the bowl 17- put the pink packet into the bowl 18- put the green packet into the bowl 19- put the pink packet into the bowl 20- put the green packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet into the bowl 2- put the green packet into the bowl 3- put the green packet into the bowl 4- put the tong into the holder 5- put the tong into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the yellow packet into the bowl 15- put the pink packets into the bowl 16- put the packets into the bowl 17- put the pink packet into the bowl 18- put the green packet into the bowl 19- put the pink packet into the bowl 20- put the green packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e","video":"12470201070098757554.mp4"}
+{"uid":"4349524042739904857","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9996871092833420448.mp4"}
+{"uid":"8834691438968136383","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the scissor 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":"16900098939284721832.mp4"}
+{"uid":"8203306766677693023","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet in the mesh basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet in the mesh basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet in the mesh basket 2- put the packet in the mesh basket 3- put the yellow packets into the bowl 4- put the yellow packet into the bowl 5- put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e","video":"1611385339462065670.mp4"}
+{"uid":"16040659010769680409","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet in the mesh basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"629630328385560700.mp4"}
+{"uid":"5745259666864612829","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":"8999454118824738863.mp4"}
+{"uid":"14567151319897973896","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups on the top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16862696876097237070.mp4"}
+{"uid":"3494484877624501721","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the yellow packet into the bowl 15- put the pink packets into the bowl 16- put the packets into the bowl 17- put the pink packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet into the bowl 2- put the pink packet into the bowl 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the yellow packet into the bowl 15- put the pink packets into the bowl 16- put the packets into the bowl 17- put the pink packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e","video":"6903981046685728568.mp4"}
+{"uid":"14384083127736558098","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the yellow packet into the bowl 15- put the pink packets into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packets into the bowl 2- put the pink packet into the bowl 3- put the green packet into the bowl 4- put the pink packet into the bowl 5- put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packets into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packets into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the yellow packet into the bowl 15- put the pink packets into the bowl Q: immediate next step? \u003cPRED\u003eA: put the packets into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packets into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packets 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: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the packets into the bowl\n\u003c/PRED\u003e","video":"18429146346778756759.mp4"}
+{"uid":"14897869472403961795","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the water bottle into the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4144409417535456264.mp4"}
+{"uid":"13983509005827829294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky note into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5703384604965113207.mp4"}
+{"uid":"9389380561366972217","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":"4242606973507534418.mp4"}
+{"uid":"5846662953591880686","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":"4956767303261169067.mp4"}
+{"uid":"5971179723788410675","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the yellow packet into the bowl 15- put the pink packets into the bowl 16- put the packets into the bowl 17- put the pink packet into the bowl 18- put the green packet into the bowl 19- put the pink packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the yellow packet into the bowl 15- put the pink packets into the bowl 16- put the packets into the bowl 17- put the pink packet into the bowl 18- put the green packet into the bowl 19- put the pink packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet into the bowl 2- put the green packet into the bowl 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the tong into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e","video":"13218877076798744612.mp4"}
+{"uid":"7806206430445426656","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":"11740642788916054813.mp4"}
+{"uid":"4782490690585044181","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the mesh basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the mesh basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the mesh basket 2- put the yellow packets into the bowl 3- put the yellow packet into the bowl 4- put the yellow packet into the bowl 5- put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the mesh basket\n\u003c/PRED\u003e","video":"16071254733073462672.mp4"}
+{"uid":"16249466311250381766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chocolate balls 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":"10475428091583232126.mp4"}
+{"uid":"8244271149724401897","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packets into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink packets 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: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the yellow packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the pink packets into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packets 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: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the yellow packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packets into the bowl 2- put the packets into the bowl 3- put the pink packet into the bowl 4- put the green packet into the bowl 5- put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packets into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the pink packets into the bowl\n\u003c/PRED\u003e","video":"14727993302032924569.mp4"}
+{"uid":"5893773461559945650","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":"12030502810028424048.mp4"}
+{"uid":"3389394663646162006","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the tong into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the blue packet in the mesh basket 2- put the blue packet in the mesh basket 3- put the white packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the packet in the mesh basket 6- put the yellow packets into the bowl 7- put the yellow packet into the bowl 8- put the yellow packet into the bowl 9- put the yellow packet into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the pink packets into the bowl 13- put the packets into the bowl 14- put the pink packet into the bowl 15- put the green packet into the bowl 16- put the pink packet into the bowl 17- put the green packet into the bowl 18- put the green packet into the bowl 19- put the green packet into the bowl 20- put the green packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the tong into the holder 2- put the tong into the holder 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tong into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tong into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tong into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tong into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the blue packet in the mesh basket 2- put the blue packet in the mesh basket 3- put the white packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the packet in the mesh basket 6- put the yellow packets into the bowl 7- put the yellow packet into the bowl 8- put the yellow packet into the bowl 9- put the yellow packet into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the pink packets into the bowl 13- put the packets into the bowl 14- put the pink packet into the bowl 15- put the green packet into the bowl 16- put the pink packet into the bowl 17- put the green packet into the bowl 18- put the green packet into the bowl 19- put the green packet into the bowl 20- put the green packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the tong into the holder\n\u003c/PRED\u003e","video":"8207574220455910539.mp4"}
+{"uid":"18038734416193985700","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet into the bowl 2- put the yellow packet into the bowl 3- put the pink packets into the bowl 4- put the packets into the bowl 5- put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e","video":"11163140924197577101.mp4"}
+{"uid":"4107436984938358988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4128690845824100744.mp4"}
+{"uid":"6452464566812692852","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the blue packet in the mesh basket 2- put the blue packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the white packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the packet in the mesh basket 7- put the yellow packets into the bowl 8- put the yellow packet into the bowl 9- put the yellow packet into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the pink packets into the bowl 14- put the packets into the bowl 15- put the pink packet into the bowl 16- put the green packet into the bowl 17- put the pink packet into the bowl 18- put the green packet into the bowl 19- put the green packet into the bowl 20- put the green packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the blue packet in the mesh basket 2- put the blue packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the white packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the packet in the mesh basket 7- put the yellow packets into the bowl 8- put the yellow packet into the bowl 9- put the yellow packet into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the pink packets into the bowl 14- put the packets into the bowl 15- put the pink packet into the bowl 16- put the green packet into the bowl 17- put the pink packet into the bowl 18- put the green packet into the bowl 19- put the green packet into the bowl 20- put the green packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet into the bowl 2- put the tong into the holder 3- put the tong into the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet into the bowl\n\u003c/PRED\u003e","video":"902511917679910399.mp4"}
+{"uid":"8308398692231995784","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet into the bowl 2- put the yellow packet into the bowl 3- put the yellow packet into the bowl 4- put the yellow packet into the bowl 5- put the pink packets into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5823867759258264495.mp4"}
+{"uid":"13463994056333125954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8317302357393880888.mp4"}
+{"uid":"6750988494990014332","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":"488866521937883237.mp4"}
+{"uid":"18435146222283139989","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the red packet in the mesh basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5041573914669307170.mp4"}
+{"uid":"236034689304581336","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10409930529526360644.mp4"}
+{"uid":"14936391009358282129","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet into the bowl 2- put the pink packets into the bowl 3- put the packets into the bowl 4- put the pink packet into the bowl 5- put the green packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e","video":"16350983477876409894.mp4"}
+{"uid":"12821601122338626258","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue packet in the mesh basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17689127093068932351.mp4"}
+{"uid":"15432386779144333756","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown belt 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":"4179156367158535426.mp4"}
+{"uid":"12076751750864248868","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chocolate cereals into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"757315456898472627.mp4"}
+{"uid":"15769906260927334023","text":"\u003ctask:success:discrete:True\u003e\nput the blue packet in the mesh basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet in the mesh basket\n\u003c/PRED\u003e","video":"9979230662803371971.mp4"}
+{"uid":"10550227246399509106","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow packet into the bowl 2- put the yellow packet into the bowl 3- put the yellow packet into the bowl 4- put the yellow packet into the bowl 5- put the yellow packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl Q: immediate next step? \u003cPRED\u003eA: put the yellow packet into the bowl\n\u003c/PRED\u003e","video":"5002481663045442300.mp4"}
+{"uid":"7090564990487123793","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red packet in the mesh basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the red packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the red packet in the mesh basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red packet in the mesh basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16813359201379170814.mp4"}
+{"uid":"16630802621366991031","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pink packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pink packet into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the yellow packet into the bowl 15- put the pink packets into the bowl 16- put the packets into the bowl 17- put the pink packet into the bowl 18- put the green packet into the bowl Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. Q: immediate next step? \u003cPRED\u003eA: put the pink packet into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the chips in the basket with. Place the laffytaffys in the bowls. Place the tongs in each of the mesh containers. last 20 steps: 1- put the red packet in the mesh basket 2- put the red packet in the mesh basket 3- put the blue packet in the mesh basket 4- put the blue packet in the mesh basket 5- put the blue packet in the mesh basket 6- put the white packet in the mesh basket 7- put the blue packet in the mesh basket 8- put the packet in the mesh basket 9- put the yellow packets into the bowl 10- put the yellow packet into the bowl 11- put the yellow packet into the bowl 12- put the yellow packet into the bowl 13- put the yellow packet into the bowl 14- put the yellow packet into the bowl 15- put the pink packets into the bowl 16- put the packets into the bowl 17- put the pink packet into the bowl 18- put the green packet into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the pink packet into the bowl 2- put the green packet into the bowl 3- put the green packet into the bowl 4- put the green packet into the bowl 5- put the green packet into the bowl\n\u003c/PRED\u003e","video":"6501786681041753474.mp4"}
+{"uid":"12920572582179087666","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer 5- place  pink cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place a pink cup in the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a pink 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a pink 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 pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: place a pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer 5- place  pink cup in the drawer Q: immediate next step? \u003cPRED\u003eA: place a pink cup in the drawer\n\u003c/PRED\u003e","video":"5861041648190807491.mp4"}
+{"uid":"15852697432382548212","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place a pink cup in the drawer 2- Place the cup into the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a pink 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 a pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer Q: immediate next step? \u003cPRED\u003eA: place a pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a pink 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: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: place a pink cup in the drawer\n\u003c/PRED\u003e","video":"18240758130163783654.mp4"}
+{"uid":"3338303164250973791","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer 5- place  pink cup in the drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer 5- place  pink cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup into the drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e","video":"7163765271146596122.mp4"}
+{"uid":"4002860703475139099","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a green cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a green cup 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":"4072351862679178036.mp4"}
+{"uid":"16409248730742543988","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":"7943578262924574228.mp4"}
+{"uid":"15064060989998083718","text":"\u003ctask:success:discrete:False\u003e\nplace  pink 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:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: place  pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place  pink cup in the drawer 2- Place the cup into the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer Q: immediate next step? \u003cPRED\u003eA: place  pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  pink 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":"3833485540416849956.mp4"}
+{"uid":"1798178557219985475","text":"\u003ctask:success:discrete:True\u003e\nplace a pink cup 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 a pink cup in the drawer\n\u003c/PRED\u003e","video":"7113788662687300423.mp4"}
+{"uid":"808920451214516973","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place  blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace  blue cup 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":"14205099310934644923.mp4"}
+{"uid":"8521500801390926570","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer 5- place  pink cup in the drawer 6- Place the cup into the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer 5- place  pink cup in the drawer 6- Place the cup into the drawer 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 cup into the drawer\n\u003c/PRED\u003e","video":"14709350304357680907.mp4"}
+{"uid":"4485509269622601845","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer Q: immediate next step? \u003cPRED\u003eA: place  blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace  blue 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: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place  blue cup in the drawer 2- place green cup in the drawer 3- place  pink cup in the drawer 4- Place the cup into the drawer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  blue 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: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: place  blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  blue cup in the drawer\n\u003c/PRED\u003e","video":"2014431058549307308.mp4"}
+{"uid":"10302093430968269056","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup into the drawer 2- Place the cup into the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e","video":"14826108142612065367.mp4"}
+{"uid":"13298994270581684331","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop chocolate candy on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18183564483298312319.mp4"}
+{"uid":"9837629829199966661","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer Q: immediate next step? \u003cPRED\u003eA: place  green cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace  green 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  green cup in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place  green cup in the drawer 2- place  blue cup in the drawer 3- place green cup in the drawer 4- place  pink cup in the drawer 5- Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  green cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: place  green cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  green 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":"2861651828922505793.mp4"}
+{"uid":"8309554640210813800","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16271116430810624272.mp4"}
+{"uid":"17359849768178061846","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15093656657629155549.mp4"}
+{"uid":"2826736364777741457","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place  green cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace  green cup 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":"9441892539262329425.mp4"}
+{"uid":"14918029877459248937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the coffee cup lid on the existing stack in the glass 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":"4255495502601586005.mp4"}
+{"uid":"14990853240227487350","text":"\u003ctask:success:discrete:True\u003e\nplace a green cup in 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 a green cup in drawer\n\u003c/PRED\u003e","video":"399577791368564300.mp4"}
+{"uid":"3084883688356082402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6126822679845868149.mp4"}
+{"uid":"4416038041755041561","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass stack on existing glass stack in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"444655323924003293.mp4"}
+{"uid":"5856675561502078961","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cup into 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":"8554775107877487347.mp4"}
+{"uid":"777494655120683635","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":"5766401458791254565.mp4"}
+{"uid":"8466427630977093461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18017396064462145801.mp4"}
+{"uid":"12986824668248134749","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: place green cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer Q: immediate next step? \u003cPRED\u003eA: place green cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green 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: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place green cup in the drawer 2- place  pink cup in the drawer 3- Place the cup into the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green cup in the drawer\n\u003c/PRED\u003e","video":"1121562983571121863.mp4"}
+{"uid":"13842274903919323401","text":"\u003ctask:success:discrete:False\u003e\nPlace the cup into the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup into the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer 5- place  pink cup in the drawer\n\u003c/PRED\u003e","video":"1499695354483973650.mp4"}
+{"uid":"16209081752290093278","text":"\u003ctask:success:discrete:False\u003e\nplace a green 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer Q: immediate next step? \u003cPRED\u003eA: place a green cup in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place a green cup in the drawer 2- place green cup in the drawer 3- place  pink cup in the drawer 4- Place the cup into the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a green cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: place a green cup in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a green cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a green 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":"16194035516028860717.mp4"}
+{"uid":"4289388732573000802","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"717416611338065609.mp4"}
+{"uid":"3844829489510902123","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cup into 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":"9400547914671697507.mp4"}
+{"uid":"14743381978912365458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15924753908547066894.mp4"}
+{"uid":"5482177464078147541","text":"\u003ctask:success:discrete:True\u003e\nplace  pink cup 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  pink cup in the drawer\n\u003c/PRED\u003e","video":"13172022206725556159.mp4"}
+{"uid":"4006943087556091863","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer 5- place  pink cup in the drawer 6- place a pink cup in the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer 5- place  pink cup in the drawer 6- place a pink cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a pink cup 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":"15223782308661410439.mp4"}
+{"uid":"16387485303564753731","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":"14531585425480438996.mp4"}
+{"uid":"6976933351674251222","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7750090090765605145.mp4"}
+{"uid":"7933423623521944053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3480762838743195555.mp4"}
+{"uid":"16485879166150929640","text":"\u003ctask:success:discrete:True\u003e\nPlace the cup into 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 cup into the drawer\n\u003c/PRED\u003e","video":"11401123641164708066.mp4"}
+{"uid":"2282629743898131607","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: place a green cup in drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a green cup in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a green cup in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer Q: immediate next step? \u003cPRED\u003eA: place a green cup in drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place a green cup in drawer 2- Place the cup into the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a green cup in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a green cup in 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":"16708347860892172137.mp4"}
+{"uid":"12067168255711975350","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a blue cup 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":"12267662857326749108.mp4"}
+{"uid":"16021497695016351328","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":"4668490421606517720.mp4"}
+{"uid":"17030936330670944745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes 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":"11817875237827395367.mp4"}
+{"uid":"2661844224741875173","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer 5- place  pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a blue 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:success:discrete:False\u003e\nplace a blue 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:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: place a blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a blue cup in the drawer\n\u003c/PRED\u003e","video":"10807273463443783308.mp4"}
+{"uid":"17104797191238479209","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup into the drawer 2- place green cup in the drawer 3- place  pink cup in the drawer 4- Place the cup into the drawer 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e","video":"16631842152923996190.mp4"}
+{"uid":"10029802624482126169","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  pink 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: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer 5- place  pink cup in the drawer Q: immediate next step? \u003cPRED\u003eA: place  pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer 5- place  pink cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place  pink cup in the drawer 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: place  pink cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace  pink 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":"7469714143905110383.mp4"}
+{"uid":"13572292644768971798","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup into the drawer 2- place  blue cup in the drawer 3- place green cup in the drawer 4- place  pink cup in the drawer 5- Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6056041735177935515.mp4"}
+{"uid":"12835846858953291162","text":"\u003ctask:success:discrete:True\u003e\nplace green cup 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 green cup in the drawer\n\u003c/PRED\u003e","video":"4533710039043949317.mp4"}
+{"uid":"7803526381739248146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick  up the blue marker from 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":"2263304905587568083.mp4"}
+{"uid":"5002695952178004914","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: Place the cup into the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup into the drawer 2- Place the cup into the drawer 3- done\n\u003c/PRED\u003e","video":"2215484077897718428.mp4"}
+{"uid":"12920774053569235228","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a ROLD GOLD 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":"14901305947596080072.mp4"}
+{"uid":"17670514043862730003","text":"\u003ctask:success:discrete:False\u003e\nplace a blue 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place a blue cup in the drawer 2- place  pink cup in the drawer 3- Place the cup into the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a blue 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: 1- place  blue cup in the drawer 2- place  green cup in the drawer Q: immediate next step? \u003cPRED\u003eA: place a blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: place a blue cup in the drawer\n\u003c/PRED\u003e","video":"8532897045132114297.mp4"}
+{"uid":"17109679805886243632","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace  blue 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put cups in drawer Q: immediate next step? \u003cPRED\u003eA: place  blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put cups in drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place  blue cup in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  blue 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: put cups in drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place  blue cup in the drawer 2- place  green cup in the drawer 3- place  blue cup in the drawer 4- place green cup in the drawer 5- place  pink cup in the drawer\n\u003c/PRED\u003e","video":"9998582023831409265.mp4"}
+{"uid":"5298650729178749967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the top orange chocolate into the left most white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"185569483763177170.mp4"}
+{"uid":"3395583096007489466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"4430326033031384089.mp4"}
+{"uid":"8794980801427496866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the lan cable in cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10730453130695841442.mp4"}
+{"uid":"17545714737948568870","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- place the can on table 3- put the cold brew can in the cart 4- put the cold brew can in the cart 5- put the cold brew can in the cart\n\u003c/PRED\u003e","video":"1932409392553127571.mp4"}
+{"uid":"5753363059512759853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack cup in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15031344397328347053.mp4"}
+{"uid":"1077724490934382115","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cold brew can in the tray 2- place the can on table 3- place the can on table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart Q: immediate next step? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e","video":"10157914617856647347.mp4"}
+{"uid":"8695113496123217738","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- place the can on table 13- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- place the can on table 13- place the can on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"13683241883943652746.mp4"}
+{"uid":"16729491508178616468","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"821558643212670998.mp4"}
+{"uid":"12856823380276240701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4912858231094184162.mp4"}
+{"uid":"890850235221473023","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"9539098268659537679.mp4"}
+{"uid":"14385506040135786642","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- place the can on table 3- place the can on table 4- put the cold brew can in the cart 5- put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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: place the can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e","video":"16210692513062655234.mp4"}
+{"uid":"9985975329046895619","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"3628802941216921468.mp4"}
+{"uid":"10742521237274565880","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\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","video":"859753255283994537.mp4"}
+{"uid":"343164339408797139","text":"\u003ctask:success:discrete:True\u003e\nPut the cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e","video":"2684926611454077117.mp4"}
+{"uid":"5804961838396960081","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: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: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: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table 7- pick up pink marker 8- place the pink marker on the table 9- pick up the marker 10- place the green marker on the table 11- pick up the sticky notes 12- place the sticky notes on the table Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table 7- pick up pink marker 8- place the pink marker on the table 9- pick up the marker 10- place the green marker on the table 11- pick up the sticky notes 12- place the sticky notes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- done\n\u003c/PRED\u003e","video":"14353581797693067361.mp4"}
+{"uid":"9331463461186993963","text":"\u003ctask:success:discrete:True\u003e\nplace the 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: place the can on table\n\u003c/PRED\u003e","video":"10069807080966184998.mp4"}
+{"uid":"10305340751175906421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple 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":"6866631761028701704.mp4"}
+{"uid":"9423902055957897282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3984739885489692404.mp4"}
+{"uid":"11660694043697165076","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"3407677802369507824.mp4"}
+{"uid":"9768123341888272088","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14395285407072545884.mp4"}
+{"uid":"13048572389363948168","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blue marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door Q: immediate next step? \u003cPRED\u003eA: place blue marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place blue marker on the table 2- place the sticky notes on the table 3- place the blue marker on the table 4- pick up pink marker 5- place the pink marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blue marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blue marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table Q: immediate next step? \u003cPRED\u003eA: place blue marker on the table\n\u003c/PRED\u003e","video":"8517281231746821842.mp4"}
+{"uid":"16660766940090515153","text":"\u003ctask:success:discrete:True\u003e\nput the cold brew can in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e","video":"8251816511196357016.mp4"}
+{"uid":"17964676655475237250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange candy in right side cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6393843448036271883.mp4"}
+{"uid":"10885615070056687332","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place pink marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace pink marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13103015206748581072.mp4"}
+{"uid":"2852779833379145776","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake out the Red bull 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":"17964430266345498944.mp4"}
+{"uid":"6777868694966722574","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: pickup the can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart Q: immediate next step? \u003cPRED\u003eA: pickup the can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the can 2- pickup the can 3- place the can on table 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup 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","video":"12938970419676038416.mp4"}
+{"uid":"13056893288446486584","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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","video":"4667107497532933431.mp4"}
+{"uid":"13243411765390324259","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"17505521824418703609.mp4"}
+{"uid":"3314422393714173604","text":"\u003ctask:success:discrete:True\u003e\nTake out the Red bull 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e","video":"3802666384331242759.mp4"}
+{"uid":"3400599340678790174","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":"13936799639859035447.mp4"}
+{"uid":"1188279890658578304","text":"\u003ctask:success:discrete:False\u003e\npick up pink marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up pink marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table Q: immediate next step? \u003cPRED\u003eA: pick up pink marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up pink marker 2- place the pink marker on the table 3- pick up the marker 4- place the green marker on the table 5- pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door Q: immediate next step? \u003cPRED\u003eA: pick up pink marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up pink marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up pink marker\n\u003c/PRED\u003e","video":"756788793410668011.mp4"}
+{"uid":"8210127786885582251","text":"\u003ctask:success:discrete:True\u003e\nplace 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: place the redbull can on the table\n\u003c/PRED\u003e","video":"2068712526790111665.mp4"}
+{"uid":"6115193481377455263","text":"\u003ctask:success:discrete:True\u003e\nput the cold brew can in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e","video":"7111061094199228996.mp4"}
+{"uid":"11061245985911351499","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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","video":"12732783103067594349.mp4"}
+{"uid":"12943571681264792493","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"14723006726824459551.mp4"}
+{"uid":"5862776638334822623","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1773617164590375880.mp4"}
+{"uid":"6961663371119018345","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":"6805724716095578876.mp4"}
+{"uid":"15521129859703605198","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15813880382692681983.mp4"}
+{"uid":"12109666949132493172","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":"3305866530772972917.mp4"}
+{"uid":"10068469903318035704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tea 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":"3232857624747745560.mp4"}
+{"uid":"886294132100893648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2766743518124733276.mp4"}
+{"uid":"17558258562058235542","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the fork holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2905664643520383810.mp4"}
+{"uid":"10089991480976388930","text":"\u003ctask:success:discrete:True\u003e\nplace the can on 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 on tray\n\u003c/PRED\u003e","video":"5997314412279987366.mp4"}
+{"uid":"9636186867502167372","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10098894805570455700.mp4"}
+{"uid":"17759420678581036443","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table Q: immediate next step? \u003cPRED\u003eA: place pink marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pink marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pink marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pink marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pink marker on the table 2- place blue marker on the table 3- place the sticky notes on the table 4- place the blue marker on the table 5- pick up pink marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pink marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door Q: immediate next step? \u003cPRED\u003eA: place pink marker on the table\n\u003c/PRED\u003e","video":"4398312334333347482.mp4"}
+{"uid":"6435173873183140312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange 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":"9070382670298966866.mp4"}
+{"uid":"22220912813495100","text":"\u003ctask:success:discrete:True\u003e\nplace the 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: place the can on table\n\u003c/PRED\u003e","video":"12141285114032468007.mp4"}
+{"uid":"1235001792731172690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut  brown  sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"200946669366518542.mp4"}
+{"uid":"11481720180626191487","text":"\u003ctask:success:discrete:True\u003e\nTake out the Red bull 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e","video":"7886961300922008187.mp4"}
+{"uid":"18039466096670801178","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker on the table 2- pick up pink marker 3- place the pink marker on the table 4- pick up the marker 5- place the green marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table Q: immediate next step? \u003cPRED\u003eA: place the blue marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door Q: immediate next step? \u003cPRED\u003eA: place the blue marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17313341815443860985.mp4"}
+{"uid":"14308816465329040802","text":"\u003ctask:success:discrete:True\u003e\nput the cold brew can in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e","video":"4366072624947947404.mp4"}
+{"uid":"740954727361945445","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2275559009519917003.mp4"}
+{"uid":"6763479879291453435","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the silver packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3650488352764491387.mp4"}
+{"uid":"1030740335435231829","text":"\u003ctask:success:discrete:True\u003e\nplace 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: place the redbull can on the table\n\u003c/PRED\u003e","video":"2510912551492384238.mp4"}
+{"uid":"14556363904576784245","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace green packet in right 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":"2371477968569090402.mp4"}
+{"uid":"7881855189804927719","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- place the can on table 3- done\n\u003c/PRED\u003e","video":"4978341737194381631.mp4"}
+{"uid":"12238677590721739018","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":"13214653982292692898.mp4"}
+{"uid":"5153733023039049510","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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 replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"6186195149505699400.mp4"}
+{"uid":"4088559673242922236","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- put the cold brew can in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- put the cold brew can in the cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cold brew can in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2722483147623933892.mp4"}
+{"uid":"8773850929880342328","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake out the glasses from the stacked 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":"10943019665156853244.mp4"}
+{"uid":"14194964850472677813","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 replace the red bull with the cold brew. last 20 steps: 1- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- place the can on table 3- place the can on table 4- place the can on table 5- put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table Q: immediate next step? \u003cPRED\u003eA: place 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: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"14007616744064967949.mp4"}
+{"uid":"3732605457351543196","text":"\u003ctask:success:discrete:True\u003e\nPut the cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e","video":"10433791847389332581.mp4"}
+{"uid":"5943760801504679051","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"17392671605633256563.mp4"}
+{"uid":"4792549077591932127","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place 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: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- put the cold brew can in the cart 3- put the cold brew can in the cart 4- put the cold brew can in the cart 5- pickup the can\n\u003c/PRED\u003e","video":"16193638644799795393.mp4"}
+{"uid":"1101062751649444432","text":"\u003ctask:success:discrete:True\u003e\npick up pink marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up pink marker\n\u003c/PRED\u003e","video":"5739078326284530609.mp4"}
+{"uid":"14306898328564919716","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the Red bull can from the tray 2- place the can on table 3- place the can on table 4- place the can on table 5- put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table Q: immediate next step? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the Red bull 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":"3306683210223969864.mp4"}
+{"uid":"1545204287931125356","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table 7- pick up pink marker 8- place the pink marker on the table 9- pick up the marker 10- place the green marker on the table 11- pick up the sticky notes Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky notes on the table 2- close the door 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky notes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky notes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door Q: immediate next step? \u003cPRED\u003eA: place the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table 7- pick up pink marker 8- place the pink marker on the table 9- pick up the marker 10- place the green marker on the table 11- pick up the sticky notes Q: immediate next step? \u003cPRED\u003eA: place the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky notes on the table\n\u003c/PRED\u003e","video":"15826894807074297517.mp4"}
+{"uid":"364462410049116467","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":"3826110977853130662.mp4"}
+{"uid":"15468359185430917080","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14775203210063566063.mp4"}
+{"uid":"11393271109878123535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11989472058875170116.mp4"}
+{"uid":"2482662932164451844","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14393020749191975744.mp4"}
+{"uid":"3179392027896742005","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cold brew can in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17304408586172056831.mp4"}
+{"uid":"13249128931537805345","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table 7- pick up pink marker Q: immediate next step? \u003cPRED\u003eA: place the pink marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pink marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table 7- pick up pink marker Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink marker on the table 2- pick up the marker 3- place the green marker on the table 4- pick up the sticky notes 5- place the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door Q: immediate next step? \u003cPRED\u003eA: place the pink marker on the table\n\u003c/PRED\u003e","video":"7530788931613533869.mp4"}
+{"uid":"15590347872529022349","text":"\u003ctask:success:discrete:True\u003e\nclose 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:planning:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table 7- pick up pink marker 8- place the pink marker on the table 9- pick up the marker 10- place the green marker on the table 11- pick up the sticky notes 12- place the sticky notes on the table 13- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table 7- pick up pink marker 8- place the pink marker on the table 9- pick up the marker 10- place the green marker on the table 11- pick up the sticky notes 12- place the sticky notes on the table 13- close the door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"7038201840605800124.mp4"}
+{"uid":"4704807229249895314","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the Red bull 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:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake out the Red bull 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: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the Red bull can from the tray 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e","video":"8385905470043805435.mp4"}
+{"uid":"14824997846045335968","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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: place the can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e","video":"17104296706445560416.mp4"}
+{"uid":"13940008035549307377","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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","video":"14523099960454398244.mp4"}
+{"uid":"13161434123317747367","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- place the can on table 3- place the can on table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e","video":"12422626292865403677.mp4"}
+{"uid":"6730466074647971383","text":"\u003ctask:success:discrete:True\u003e\nTake out the Red bull 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e","video":"17816857064322977819.mp4"}
+{"uid":"7261370779487564057","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3599196784312218805.mp4"}
+{"uid":"7482264813679780010","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place 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: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- place the can on table 3- place the can on table 4- place the can on table 5- put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"18176875969233438495.mp4"}
+{"uid":"15585289414306878688","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake out the Red bull 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":"10711194610516848669.mp4"}
+{"uid":"8509360558527371608","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- Put the cold brew can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- Put the cold brew can in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10580905066236213060.mp4"}
+{"uid":"5109147784629640363","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake out the Red bull 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:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the Red bull 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 replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the Red bull can from the tray 2- place the can on table 3- put the cold brew can in the cart 4- put the cold brew can in the cart 5- put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table Q: immediate next step? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e","video":"9233359925127854831.mp4"}
+{"uid":"6178944734689971657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brush on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10578585490405299183.mp4"}
+{"uid":"4045814503384224027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the forks Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8515113369991532331.mp4"}
+{"uid":"16527668994545808457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15362690243284396340.mp4"}
+{"uid":"14221557298638749209","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- put the cold brew can in the cart 2- place the can on table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cold brew can in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cold brew can in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart Q: immediate next step? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e","video":"325040943731235335.mp4"}
+{"uid":"11070538532192571648","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":"2293654740582208564.mp4"}
+{"uid":"9906567274187237922","text":"\u003ctask:success:discrete:False\u003e\nplace the green marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table 7- pick up pink marker 8- place the pink marker on the table 9- pick up the marker Q: next 5 steps? \u003cPRED\u003eA: 1- place the green marker on the table 2- pick up the sticky notes 3- place the sticky notes on the table 4- close the door 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door Q: immediate next step? \u003cPRED\u003eA: place the green marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table 7- pick up pink marker 8- place the pink marker on the table 9- pick up the marker Q: immediate next step? \u003cPRED\u003eA: place the green marker on the table\n\u003c/PRED\u003e","video":"4013068345767360351.mp4"}
+{"uid":"6068427949328156609","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- place the can on table 13- Put the cold brew can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- place the can on table 13- Put the cold brew can in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13481360597655759528.mp4"}
+{"uid":"14616984928476687863","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart Q: immediate next step? \u003cPRED\u003eA: pickup the can\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npickup 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:success:discrete:False\u003e\npickup the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the can 2- place the can on table 3- place the can on table 4- place the can on table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: pickup the can\n\u003c/PRED\u003e","video":"15629304115718428337.mp4"}
+{"uid":"9511933422301206769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the white 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":"951095861571437759.mp4"}
+{"uid":"14424027495793266448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17642469088422021519.mp4"}
+{"uid":"1480385220904395016","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"16150699422281276952.mp4"}
+{"uid":"6386000507673049240","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the can\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npickup the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3119039549412382314.mp4"}
+{"uid":"6690388254501861740","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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: place the can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e","video":"12239896371075850734.mp4"}
+{"uid":"856087249698014109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the cap on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2650442483061186973.mp4"}
+{"uid":"11674658784938821235","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart Q: immediate next step? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cold brew can in the tray 2- pickup the can 3- place the can on table 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e","video":"15202379899534699921.mp4"}
+{"uid":"13847603815296339859","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange pen in pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2746569377839680285.mp4"}
+{"uid":"12024694045896059848","text":"\u003ctask:success:discrete:False\u003e\nPut the cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cold brew can in the tray 2- put the cold brew can in the cart 3- pickup the can 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart Q: immediate next step? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e","video":"8763009584300343793.mp4"}
+{"uid":"2233460026153060625","text":"\u003ctask:success:discrete:True\u003e\nput the cold brew can in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- place the can on table 13- put the cold brew can in the cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- place the can on table 13- put the cold brew can in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3619090047173103574.mp4"}
+{"uid":"4487204868343349505","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cold brew can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- place the can on table Q: immediate next step? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e","video":"14728843083377371291.mp4"}
+{"uid":"6965709717062030625","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table Q: immediate next step? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the Red bull 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 replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the Red bull can from the tray 2- place the can on table 3- place the can on table 4- place the can on table 5- put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e","video":"1209929852854032445.mp4"}
+{"uid":"16661845572231012012","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- pickup the can 3- place the can on table 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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: place the can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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":"5377849810166037015.mp4"}
+{"uid":"4438418703579585638","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- place the can on table 3- put the cold brew can in the cart 4- put the cold brew can in the cart 5- put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"6799355032826049888.mp4"}
+{"uid":"12615715528271542529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink marker drawer in the pink marker 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":"9750410120323474211.mp4"}
+{"uid":"5401173296732617939","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3087836581869803659.mp4"}
+{"uid":"14800858414261396282","text":"\u003ctask:success:discrete:True\u003e\nplace the 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: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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","video":"15666241787798405628.mp4"}
+{"uid":"16970961824837761696","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart Q: immediate next step? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- put the cold brew can in the cart 2- pickup the can 3- place the can on table 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cold brew can in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cold brew can in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e","video":"6327040220012392786.mp4"}
+{"uid":"10478082718986493375","text":"\u003ctask:success:discrete:True\u003e\nTake out the Red bull 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e","video":"5461363513640247548.mp4"}
+{"uid":"5609335619775705775","text":"\u003ctask:success:discrete:True\u003e\nplace the green marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the green marker on the table\n\u003c/PRED\u003e","video":"6754095550143791130.mp4"}
+{"uid":"1361491702472030997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue 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":"943669173988293476.mp4"}
+{"uid":"4351369243383050129","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table 7- pick up pink marker 8- place the pink marker on the table Q: immediate next step? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table 7- pick up pink marker 8- place the pink marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the marker 2- place the green marker on the table 3- pick up the sticky notes 4- place the sticky notes on the table 5- close the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door Q: immediate next step? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5832186675825936568.mp4"}
+{"uid":"14209484572850917984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove 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":"8430700725874243672.mp4"}
+{"uid":"4868905942845040588","text":"\u003ctask:success:discrete:True\u003e\nPut the cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e","video":"10953433596561740077.mp4"}
+{"uid":"4485727599220675108","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on 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 replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on tray 2- put the cold brew can in the cart 3- put the cold brew can in the cart 4- pickup the can 5- place the can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the can on tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can on tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9341310605029361331.mp4"}
+{"uid":"17243568555618506157","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"5947436094618435806.mp4"}
+{"uid":"4521398851112570742","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart Q: immediate next step? \u003cPRED\u003eA: place the can on tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can on tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on tray 2- put the cold brew can in the cart 3- pickup the can 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on 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":"16146604329709589160.mp4"}
+{"uid":"12706657676012625222","text":"\u003ctask:success:discrete:True\u003e\nplace the sticky notes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sticky notes on the table\n\u003c/PRED\u003e","video":"8946014823370451259.mp4"}
+{"uid":"10680960809576401614","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace green marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15481279729834368762.mp4"}
+{"uid":"12745899451707017220","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart Q: immediate next step? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cold brew can in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart Q: next 5 steps? \u003cPRED\u003eA: 1- put the cold brew can in the cart 2- put the cold brew can in the cart 3- pickup the can 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cold brew can in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3663044855073363652.mp4"}
+{"uid":"8391982186254009421","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the sticky notes Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door Q: immediate next step? \u003cPRED\u003eA: pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the sticky notes\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table 7- pick up pink marker 8- place the pink marker on the table 9- pick up the marker 10- place the green marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sticky notes 2- place the sticky notes on the table 3- close the door 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table 5- place the sticky notes on the table 6- place the blue marker on the table 7- pick up pink marker 8- place the pink marker on the table 9- pick up the marker 10- place the green marker on the table Q: immediate next step? \u003cPRED\u003eA: pick up the sticky notes\n\u003c/PRED\u003e","video":"17214747459396683693.mp4"}
+{"uid":"2830458187040985149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5988170223493048649.mp4"}
+{"uid":"13707284198296304113","text":"\u003ctask:success:discrete:False\u003e\nput the cold brew can in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- place the can on table Q: immediate next step? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cold brew can in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table 12- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the cold brew can in the cart 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e","video":"9875423920113672956.mp4"}
+{"uid":"7071315973276391434","text":"\u003ctask:success:discrete:False\u003e\nput the cold brew can in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the cold brew can in the cart 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table Q: immediate next step? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cold brew can in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6504860241846141502.mp4"}
+{"uid":"17734018461021040911","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky notes on the table 2- place the blue marker on the table 3- pick up pink marker 4- place the pink marker on the table 5- pick up the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky notes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door 2- place green marker on the table 3- place pink marker on the table 4- place blue marker on the table Q: immediate next step? \u003cPRED\u003eA: place the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door Q: immediate next step? \u003cPRED\u003eA: place the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky notes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"654839832202988448.mp4"}
+{"uid":"2146036428919541619","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cold brew can in the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the cold brew can in the cart 2- put the cold brew can in the cart 3- put the cold brew can in the cart 4- pickup the can 5- place the can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cold brew can in the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table Q: immediate next step? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: put the cold brew can in the cart\n\u003c/PRED\u003e","video":"16303630212650968197.mp4"}
+{"uid":"3452832079404683417","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door Q: immediate next step? \u003cPRED\u003eA: place green marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door. last 20 steps: 1- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- place green marker on the table 2- place pink marker on the table 3- place blue marker on the table 4- place the sticky notes on the table 5- place the blue marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get me a set of highlighters and a post it from the supply cabinent and don't forget to close the cabinent door Q: immediate next step? \u003cPRED\u003eA: place green marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place green marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16347865373789144491.mp4"}
+{"uid":"1289623935322253830","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the can\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npickup the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17128579064359252134.mp4"}
+{"uid":"2926923269185357290","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the Red bull can from the tray 2- place the can on table 3- put the cold brew can in the cart 4- put the cold brew can in the cart 5- put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the Red bull 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table Q: immediate next step? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e","video":"13620929760872951390.mp4"}
+{"uid":"9007490017201277800","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1482951461741472258.mp4"}
+{"uid":"9838928842630247495","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":"9162720352912431175.mp4"}
+{"uid":"10048264469913083947","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table Q: immediate next step? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the Red bull can from the tray 2- put the cold brew can in the cart 3- put the cold brew can in the cart 4- put the cold brew can in the cart 5- pickup the can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the Red bull 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:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: Take out the Red bull can from the tray\n\u003c/PRED\u003e","video":"13962729005037948789.mp4"}
+{"uid":"4100037391706600925","text":"\u003ctask:success:discrete:False\u003e\nPut the cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cold brew can in the tray 2- put the cold brew can in the cart 3- put the cold brew can in the cart 4- pickup the can 5- place the can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table Q: immediate next step? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5271264557417724179.mp4"}
+{"uid":"9991948012328972003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9887454255987521935.mp4"}
+{"uid":"11661845318786024505","text":"\u003ctask:success:discrete:True\u003e\nplace blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place blue marker on the table\n\u003c/PRED\u003e","video":"15810819966814349380.mp4"}
+{"uid":"14119534931515328734","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18159040016473126644.mp4"}
+{"uid":"15992454640069717491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"15100739744246569646.mp4"}
+{"uid":"6730929735386184999","text":"\u003ctask:success:discrete:True\u003e\nplace the 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: place the can on table\n\u003c/PRED\u003e","video":"486205221978176942.mp4"}
+{"uid":"4664950652986603502","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- place the can on table 3- put the cold brew can in the cart 4- put the cold brew can in the cart 5- put the cold brew can in the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"5773734646502036861.mp4"}
+{"uid":"7654075183259850272","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- put the cold brew can in the cart 3- put the cold brew can in the cart 4- put the cold brew can in the cart 5- pickup the can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e","video":"7980161750633363886.mp4"}
+{"uid":"10922632539889648525","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"5909777263158665110.mp4"}
+{"uid":"10159298118279852256","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sticky notes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the sticky notes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17496466982766422584.mp4"}
+{"uid":"543468489727971150","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8758975096544953710.mp4"}
+{"uid":"10623114512186042762","text":"\u003ctask:success:discrete:True\u003e\nplace the pink marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink marker on the table\n\u003c/PRED\u003e","video":"10622851882647257528.mp4"}
+{"uid":"3335532705341977002","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table Q: immediate next step? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew. last 20 steps: 1- place the can on table 2- place the can on table 3- place the can on table 4- place the can on table 5- place the can on table 6- place the can on table 7- put the cold brew can in the cart 8- put the cold brew can in the cart 9- put the cold brew can in the cart 10- pickup the can 11- place the can on table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cold brew can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please replace the red bull with the cold brew Q: immediate next step? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cold brew can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cold brew can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5439232535004295438.mp4"}
+{"uid":"3496961560236804499","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tea box on the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6398881881375099149.mp4"}
+{"uid":"14024568239618720264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3970096234708394254.mp4"}
+{"uid":"1989560904793748385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17456095837803247357.mp4"}
+{"uid":"12941068090210712280","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the box of breakfast blend Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18441460068009718722.mp4"}
+{"uid":"5876354241042321704","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray 7- place the packet in the tray 8- place the packet in the tray 9- place the packet in the tray 10- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray 7- place the packet in the tray 8- place the packet in the tray 9- place the packet in the tray 10- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"7906598708239232433.mp4"}
+{"uid":"4641353712347105317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pebbles in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17744612096070133762.mp4"}
+{"uid":"2235899336594855761","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray 7- place the packet in the tray 8- place the packet in the tray 9- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray 7- place the packet in the tray 8- place the packet in the tray 9- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"7347305713124184741.mp4"}
+{"uid":"2810452607962712073","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"14872148854061473347.mp4"}
+{"uid":"18130879019546453803","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange glass in stack of 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 orange glass in stack of 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 orange glass in stack of glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: put orange glass in stack of glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table Q: immediate next step? \u003cPRED\u003eA: put orange glass in stack of glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange glass in stack of glass 2- Pick up blue glass 3- Put blue glass in stack of glass 4- Put yellow glass in stack of glass 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange glass in stack of glass\n\u003c/PRED\u003e","video":"14754005214092040468.mp4"}
+{"uid":"11505199595342985101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8132057005777629069.mp4"}
+{"uid":"8669525092112238521","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue glass into the stag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: Place the blue glass into the stag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass Q: immediate next step? \u003cPRED\u003eA: Place the blue glass into the stag\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue glass into the stag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue glass into the stag 2- Put yellow glass in stack of glass 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue glass into the stag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue glass into the stag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12559340315169798975.mp4"}
+{"uid":"13595390729463145220","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Turn the glass upright\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTurn the glass upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7596841958068503821.mp4"}
+{"uid":"16612636713646100087","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put  green glass in orange glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut  green glass in orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright Q: immediate next step? \u003cPRED\u003eA: Put  green glass in orange glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut  green glass in orange glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put  green glass in orange glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: Put  green glass in orange glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright Q: next 5 steps? \u003cPRED\u003eA: 1- Put  green glass in orange glass 2- Shift the stack of glass to the center of table 3- put orange glass in stack of glass 4- Pick up blue glass 5- Put blue glass in stack of glass\n\u003c/PRED\u003e","video":"9031785120013129983.mp4"}
+{"uid":"12697887390691253919","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass 6- Put blue glass in stack of glass 7- place the glass into the stack Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass 6- Put blue glass in stack of glass 7- place the glass into the stack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass into the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the glass into the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17065403327118276781.mp4"}
+{"uid":"8819921941399733255","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the glass up right 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: Place the glass up right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the glass up right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the glass up right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the glass up right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the glass up right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the glass up right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12587148853421703425.mp4"}
+{"uid":"10297920614199264353","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray 7- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray 7- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- done\n\u003c/PRED\u003e","video":"2312110024071912053.mp4"}
+{"uid":"3185037322886401102","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9227307961067127213.mp4"}
+{"uid":"4463222117305167958","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put yellow glass in stack of glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut yellow glass in stack of glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass 6- Put blue glass in stack of glass 7- Put yellow glass in stack of glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass 6- Put blue glass in stack of glass 7- Put yellow glass in stack of glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8655868356573014131.mp4"}
+{"uid":"7978476819630932779","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue glass into the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue glass into the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17626319877584788586.mp4"}
+{"uid":"15123296980352892661","text":"\u003ctask:success:discrete:True\u003e\nPlace the green glass in the stag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 green glass in the stag\n\u003c/PRED\u003e","video":"9929523506723061537.mp4"}
+{"uid":"8507614564994567161","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3864892442968022748.mp4"}
+{"uid":"136849156279225103","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9793320499856435878.mp4"}
+{"uid":"5076517975225294683","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e","video":"16856379442141828730.mp4"}
+{"uid":"3028308222882341088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the scissors 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":"226404301484920124.mp4"}
+{"uid":"9901326585156448674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8989719557839142708.mp4"}
+{"uid":"10781590886361156372","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7829600804519855277.mp4"}
+{"uid":"1006265448895755702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper cup in 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":"17828644554772471931.mp4"}
+{"uid":"16918220403170810339","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the yellow glass in the stag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the yellow glass in the stag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass 6- Put blue glass in stack of glass 7- Place the yellow glass in the stag Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass 6- Put blue glass in stack of glass 7- Place the yellow glass in the stag Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12704027448014681283.mp4"}
+{"uid":"17094785626664193926","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":"1920556494130198175.mp4"}
+{"uid":"8729190803952700469","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"18367034161794797039.mp4"}
+{"uid":"11610980971068048742","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass Q: next 5 steps? \u003cPRED\u003eA: 1- Shift the stack of glass to the center of table 2- put orange glass in stack of glass 3- Pick up blue glass 4- Put blue glass in stack of glass 5- Put yellow glass in stack of glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Shift the stack of glass to the center of table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: Shift the stack of glass to the center of table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nShift the stack of glass to the center 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:discriminative:discrete:True\u003e\nShift the stack of glass to the center 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: Shift the stack of glass to the center of table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass Q: immediate next step? \u003cPRED\u003eA: Shift the stack of glass to the center of table\n\u003c/PRED\u003e","video":"829383784854831750.mp4"}
+{"uid":"11047284820351053923","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue glass into the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass Q: immediate next step? \u003cPRED\u003eA: put the blue glass into the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue glass into the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue glass into the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue glass into the stack 2- Put yellow glass in stack of glass 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: put the blue glass into the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue glass into the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10918318232494122316.mp4"}
+{"uid":"3232563060273865600","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy  in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14538857687637615278.mp4"}
+{"uid":"3722412358572175159","text":"\u003ctask:success:discrete:True\u003e\nPlace the glass up right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the glass up right\n\u003c/PRED\u003e","video":"2139542038744338237.mp4"}
+{"uid":"6267907689955915340","text":"\u003ctask:success:discrete:True\u003e\nPut orange glass upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put orange glass upside down\n\u003c/PRED\u003e","video":"4864364972937716847.mp4"}
+{"uid":"1860441156152275699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop orange in the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17279411577999843341.mp4"}
+{"uid":"4348915462459769798","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"965041716351815743.mp4"}
+{"uid":"1053473544174992805","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the glass into the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass 6- Put blue glass in stack of glass Q: immediate next step? \u003cPRED\u003eA: place the glass into the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass 6- Put blue glass in stack of glass Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass into the stack 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass into the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the glass into the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the glass into the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: place the glass into the stack\n\u003c/PRED\u003e","video":"10866760104804079182.mp4"}
+{"uid":"6920641141473016036","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put orange glass upside down\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange glass upside down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange glass upside down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut orange glass upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange glass upside down 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange glass upside down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: Put orange glass upside down\n\u003c/PRED\u003e","video":"8250789710717947284.mp4"}
+{"uid":"9376561951717169871","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put blue glass in stack of glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut blue glass in stack of 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":"5467608940268022372.mp4"}
+{"uid":"17055329341567952924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15871440589373291467.mp4"}
+{"uid":"8586243767795419036","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the forward stack on the salmon 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":"2310284486212701444.mp4"}
+{"uid":"4762475615875908950","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"14607533209520072822.mp4"}
+{"uid":"7554295355476740160","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange glass in stack of glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange glass in stack of 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":"8196517207217369006.mp4"}
+{"uid":"15767732293588840350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4088990610895682328.mp4"}
+{"uid":"5317471032514494765","text":"\u003ctask:success:discrete:True\u003e\nPlace the orange glass in the stag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 orange glass in the stag\n\u003c/PRED\u003e","video":"10903497332560947635.mp4"}
+{"uid":"7403036839918442278","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange glass in the stag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange glass in the stag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 glass in the stag\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange glass in the stag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 restack the cups Q: immediate next step? \u003cPRED\u003eA: Place the orange glass in the stag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table Q: immediate next step? \u003cPRED\u003eA: Place the orange glass in the stag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange glass in the stag 2- Pick up blue glass 3- Put blue glass in stack of glass 4- Put yellow glass in stack of glass 5- done\n\u003c/PRED\u003e","video":"13691440308426716863.mp4"}
+{"uid":"15464460636472771979","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass Q: immediate next step? \u003cPRED\u003eA: Put blue glass in stack of glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put blue glass in stack of glass 2- Put yellow glass in stack of glass 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut blue glass in stack of glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: Put blue glass in stack of glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put blue glass in stack of glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put blue glass in stack of glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut blue glass in stack of 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":"10640172511590448725.mp4"}
+{"uid":"8412676718681589265","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"12283221208968851995.mp4"}
+{"uid":"6090103465007948894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass plate 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":"5664389538662635110.mp4"}
+{"uid":"3656916087479100468","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up blue glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass Q: immediate next step? \u003cPRED\u003eA: Pick up blue glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up blue glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up blue glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: Pick up blue glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up blue glass 2- Put blue glass in stack of glass 3- Put yellow glass in stack of glass 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up blue glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14600118242573178116.mp4"}
+{"uid":"13502483366544432123","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange glass into the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange glass into the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1751864908523245253.mp4"}
+{"uid":"10188907820280020128","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop binder clips into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12102383266361589422.mp4"}
+{"uid":"12931389180255229684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the blue marker 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":"17615056760764070955.mp4"}
+{"uid":"15562614185232107641","text":"\u003ctask:success:discrete:False\u003e\nPlace the yellow glass in the stag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow glass in the stag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow glass in the stag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow glass in the stag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass 6- Put blue glass in stack of glass Q: immediate next step? \u003cPRED\u003eA: Place the yellow glass in the stag\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: Place the yellow glass in the stag\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass 6- Put blue glass in stack of glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow glass in the stag 2- done\n\u003c/PRED\u003e","video":"17217752989841324642.mp4"}
+{"uid":"14528188207727551186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tissue box 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":"17864536482460907523.mp4"}
+{"uid":"5366760109677533644","text":"\u003ctask:success:discrete:True\u003e\nPick up blue glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up blue glass\n\u003c/PRED\u003e","video":"7519747398825632791.mp4"}
+{"uid":"10984572668333994093","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put  green glass in orange glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut  green glass in orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1802317377214827754.mp4"}
+{"uid":"7743508528994623051","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray 7- place the packet in the tray 8- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray 6- place the packet in the tray 7- place the packet in the tray 8- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8128999646965304204.mp4"}
+{"uid":"7162060994482253136","text":"\u003ctask:success:discrete:True\u003e\nput the green glass into the orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green glass into the orange glass\n\u003c/PRED\u003e","video":"15872180951424511393.mp4"}
+{"uid":"10341990954771637218","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: Put yellow glass in stack of glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass 6- Put blue glass in stack of glass Q: immediate next step? \u003cPRED\u003eA: Put yellow glass in stack of glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put yellow glass in stack of glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut yellow glass in stack of glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table 4- put orange glass in stack of glass 5- Pick up blue glass 6- Put blue glass in stack of glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put yellow glass in stack of glass 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put yellow glass in stack of glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut yellow glass in stack of 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":"7326725685562851896.mp4"}
+{"uid":"18200428810881995446","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candies 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":"3284633506312639854.mp4"}
+{"uid":"6914371482221714628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tray on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6372892192914113236.mp4"}
+{"uid":"502890749437944926","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green glass in the stag 2- Shift the stack of glass to the center of table 3- put orange glass in stack of glass 4- Pick up blue glass 5- Put blue glass in stack of glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: Place the green glass in the stag\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green glass in the stag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 glass in the stag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 green glass in the stag\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green glass in the stag\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright Q: immediate next step? \u003cPRED\u003eA: Place the green glass in the stag\n\u003c/PRED\u003e","video":"2636798160914250279.mp4"}
+{"uid":"2197195396222174688","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":"14377183799221283612.mp4"}
+{"uid":"3340138371214170066","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"6750387529766417249.mp4"}
+{"uid":"9682570234551361309","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright Q: immediate next step? \u003cPRED\u003eA: put the green glass into the orange glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green glass into the orange glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: put the green glass into the orange glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green glass into the orange glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green glass into the orange glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green glass into the orange glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright Q: next 5 steps? \u003cPRED\u003eA: 1- put the green glass into the orange glass 2- Shift the stack of glass to the center of table 3- put orange glass in stack of glass 4- Pick up blue glass 5- Put blue glass in stack of glass\n\u003c/PRED\u003e","video":"5519342405724669531.mp4"}
+{"uid":"11171347414822009207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9750793292215348898.mp4"}
+{"uid":"12034159482266074484","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes 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":"9471658686019950528.mp4"}
+{"uid":"11128817672325338218","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"14977404491141943221.mp4"}
+{"uid":"2573472693384898375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14449471501827132296.mp4"}
+{"uid":"10481081999588234643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the green 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":"5416759141201737748.mp4"}
+{"uid":"1841443781380471098","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange glass into the stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table Q: immediate next step? \u003cPRED\u003eA: put the orange glass into the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange glass into the stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please restack the cups. last 20 steps: 1- Turn the glass upright 2- put the green glass into the orange glass 3- Shift the stack of glass to the center of table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange glass into the stack 2- Pick up blue glass 3- Put blue glass in stack of glass 4- Put yellow glass in stack of glass 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange glass into the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please restack the cups Q: immediate next step? \u003cPRED\u003eA: put the orange glass into the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange glass into the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16915529540316709812.mp4"}
+{"uid":"5474973402702897387","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue glass into the stag\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue glass into the stag Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5648376738373614342.mp4"}
+{"uid":"12826958396232248404","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":"14951392389435012105.mp4"}
+{"uid":"18136629630037220535","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put red bull on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table 5- Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red bull on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red bull 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":"4459249579046437415.mp4"}
+{"uid":"2177799140565544891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown crushed paper on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9918727487710268043.mp4"}
+{"uid":"9807407514344865943","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pen 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":"13865960359385679287.mp4"}
+{"uid":"4916168200098649478","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put pear on the table 6- put pear on the table 7- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put pear on the table 6- put pear on the table 7- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1479628695882086747.mp4"}
+{"uid":"18035292324858916557","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can on the table 2- put the can on the table 3- Place the red bull can on the table 4- put the can on the table 5- done\n\u003c/PRED\u003e","video":"10288284519669515624.mp4"}
+{"uid":"11959774382090709395","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- put the can on the table 4- Place the red bull can on the table 5- put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e","video":"9801516413752013897.mp4"}
+{"uid":"5434991263497687456","text":"\u003ctask:success:discrete:True\u003e\nPlace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e","video":"2464909431674563598.mp4"}
+{"uid":"18006463620911741872","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can on the table 2- put the can on the table 3- done\n\u003c/PRED\u003e","video":"15172316600839040412.mp4"}
+{"uid":"2928670852820638893","text":"\u003ctask:success:discrete:True\u003e\nPlace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e","video":"12783913875774589584.mp4"}
+{"uid":"5305723819984639677","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the yellow marker 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":"3565441377084695888.mp4"}
+{"uid":"9754796920774618708","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace tong 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":"15605976511056290715.mp4"}
+{"uid":"15822139053797829147","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":"4486126299211200619.mp4"}
+{"uid":"2287210357536352184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue 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":"10531014131940810850.mp4"}
+{"uid":"11117650742941684272","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put pear on the table 6- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put apple on the table 3- put pear on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put pear on the table 6- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"916705055858501047.mp4"}
+{"uid":"5650455524972696628","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table 5- Place the 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: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table 5- Place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4367155602398680321.mp4"}
+{"uid":"7701201800445171850","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":"5346421586164124893.mp4"}
+{"uid":"14337211984862713302","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put pear on the table 6- put pear on the table 7- put pear on the table 8- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put pear on the table 6- put pear on the table 7- put pear on the table 8- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"15102762086468638696.mp4"}
+{"uid":"8725396810990213988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pop corn 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":"8211757860667139365.mp4"}
+{"uid":"409842006477053333","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple 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":"463216772504641065.mp4"}
+{"uid":"11185095232719635775","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: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table 5- Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16821957883720001898.mp4"}
+{"uid":"1498037201958465108","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":"1562547515851229376.mp4"}
+{"uid":"14394169809760738296","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- Place the red bull can on the table 3- put the can on the table 4- Place the red bull can on the table 5- put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the 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","video":"1567953459719348308.mp4"}
+{"uid":"16274388722967089119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to 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":"17926525022153103153.mp4"}
+{"uid":"671619656909157194","text":"\u003ctask:success:discrete:False\u003e\nput red bull on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put red bull on the table 2- put the 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 red bull on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table Q: immediate next step? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red bull on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15993531880921382858.mp4"}
+{"uid":"8413649518866391600","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put red bull on the table 2- Place the red bull can on the table 3- put the can on the table 4- Place the red bull can on the table 5- put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red bull on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red bull 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":"4974099969849705701.mp4"}
+{"uid":"8793577367477661192","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":"10762333021176131468.mp4"}
+{"uid":"1705113249507961403","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":"548855313546845974.mp4"}
+{"uid":"2168342448120888290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"9852837229032238318.mp4"}
+{"uid":"7679959937717187694","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput red bull on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table 5- Place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table 5- Place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put red bull on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red bull 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 red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e","video":"11690106978277787143.mp4"}
+{"uid":"16909808494944059585","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- put the can on the table 3- Place the red bull can on the table 4- put the can on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e","video":"15080383052920192301.mp4"}
+{"uid":"4073862466644961181","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put red bull on the table 2- Place the red bull can on the table 3- put the can on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput red bull 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 red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red bull on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11177013957122884631.mp4"}
+{"uid":"5705397059027853987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass on the 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":"12736270904245437392.mp4"}
+{"uid":"16662416149407602131","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table 5- Place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table 5- Place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e","video":"12973146541556150111.mp4"}
+{"uid":"2586141667820833971","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":"11725433847668280700.mp4"}
+{"uid":"7740445102289184192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the purple object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2178060985209220727.mp4"}
+{"uid":"7491940646431170734","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":"12558458040806591022.mp4"}
+{"uid":"4660946282571455516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy into the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12501561225248393449.mp4"}
+{"uid":"85198906921268164","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: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the 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: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- Place the red bull can on the table 3- put the can on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5081640800733933857.mp4"}
+{"uid":"6400817950235919433","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":"5941000481927458895.mp4"}
+{"uid":"10167637442808959939","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":"2751443234491060210.mp4"}
+{"uid":"13389191069598018344","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":"9250638609214702183.mp4"}
+{"uid":"376211632853328767","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the can on the table 2- put the can on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table Q: immediate next step? \u003cPRED\u003eA: put the can on the table\n\u003c/PRED\u003e","video":"10071550710272817868.mp4"}
+{"uid":"6855551526442508431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sticky notes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16804092725645386395.mp4"}
+{"uid":"4196452156580645876","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put pear on the table 3- put pear on the table 4- put apple on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"15526690224472488348.mp4"}
+{"uid":"2520400449733064795","text":"\u003ctask:success:discrete:True\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"6310551139900172978.mp4"}
+{"uid":"12124284197212869498","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table 5- Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e","video":"2028513044530809007.mp4"}
+{"uid":"4961463942285075107","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the penstand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17987214563757728106.mp4"}
+{"uid":"15064616294499324599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"3773580757749464156.mp4"}
+{"uid":"14556291581454479613","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6603563191788619120.mp4"}
+{"uid":"13398832855048946937","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3033871403822155196.mp4"}
+{"uid":"13454913613060819945","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":"784887658488217729.mp4"}
+{"uid":"6554668444726876729","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"16541396050231384559.mp4"}
+{"uid":"4517221958042730555","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- put the can on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: Place the red bull can on the table\n\u003c/PRED\u003e","video":"15312625717344691201.mp4"}
+{"uid":"4939339357917086113","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put pear on the table 3- put apple on the table 4- put pear on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table 4- put pear on the table 5- put pear on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"18246694602539197448.mp4"}
+{"uid":"14048939820561821546","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3389173642319488135.mp4"}
+{"uid":"11817703800213564716","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put apple on the table 3- put pear on the table 4- put pear on the table 5- put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"12775259111958964548.mp4"}
+{"uid":"10959907221144579428","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":"7184045364476564402.mp4"}
+{"uid":"13057567594913219409","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table 5- Place the red bull can on the table 6- put the can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table 3- Place the red bull can on the table 4- put the can on the table 5- Place the red bull can on the table 6- put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: 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":"15969477131684965207.mp4"}
+{"uid":"7662745043386294715","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put pear on the table 3- put pear on the table 4- put pear on the table 5- put pear on the table\n\u003c/PRED\u003e","video":"2901935161623110633.mp4"}
+{"uid":"5454631521873992186","text":"\u003ctask:success:discrete:False\u003e\nput pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pear on the table 2- put pear on the table 3- put pear on the table 4- put pear on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out fruits from the bowl. last 20 steps: 1- put apple on the table 2- put apple on the table 3- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put pear on the table\n\u003c/PRED\u003e","video":"17367512965672975143.mp4"}
+{"uid":"8227742746192666123","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- Place the red bull can on the table 2- Place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put red bull on the table 2- put the can on the table 3- Place the red bull can on the table 4- put the can on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput red bull on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put red bull on the table\n\u003c/PRED\u003e","video":"4834706574313841315.mp4"}
+{"uid":"11507118517499434474","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":"8926252221761175221.mp4"}
+{"uid":"1337717906024188766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop Pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3625783297436829350.mp4"}
+{"uid":"3369417931115033656","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the right side transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14507382307895460837.mp4"}
+{"uid":"2302490180884319331","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPull the black cable off the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8651347009798112515.mp4"}
+{"uid":"5294263751963134463","text":"\u003ctask:success:discrete:True\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace banana on the 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: place banana on the paper\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"14206507015002249608.mp4"}
+{"uid":"6963616167026881929","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace banana on the 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","video":"13448132468058285822.mp4"}
+{"uid":"2567648115632291885","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Write something on the whiteboard with the green marker. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the marker 2- open the marker cap 3- write on the board 4- place the marker on the board edge 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Write something on the whiteboard with the green marker. Q: immediate next step? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Write something on the whiteboard with the green marker. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"516217101045416859.mp4"}
+{"uid":"13491688944229652160","text":"\u003ctask:success:discrete:True\u003e\nplace banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e","video":"178788464985097705.mp4"}
+{"uid":"3939115052695043421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy 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":"6627831087230847577.mp4"}
+{"uid":"13644251794227825368","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17474222274389914697.mp4"}
+{"uid":"2821217231083729340","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace banana on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the paper 2- put banana on the table 3- place banana on the paper 4- put banana on the table 5- put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e","video":"3324675931911399821.mp4"}
+{"uid":"17378241934687436036","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple 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":"4632923150187524412.mp4"}
+{"uid":"7403894171145814604","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- put banana on the table 3- place banana on the paper 4- put banana on the table 5- put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10416206383592965266.mp4"}
+{"uid":"2270995350401283814","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table\n\u003c/PRED\u003e","video":"6463950921764511080.mp4"}
+{"uid":"10204890800304949886","text":"\u003ctask:success:discrete:True\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"18389582722416524166.mp4"}
+{"uid":"8335479006919340609","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9432696863532426989.mp4"}
+{"uid":"17535361437961316935","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the lids in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7194445018597507773.mp4"}
+{"uid":"12738240281892548529","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e","video":"4442951010061911247.mp4"}
+{"uid":"16281188543520712109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pista in 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":"9074027284957426508.mp4"}
+{"uid":"12500657716418017529","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2818022762155685930.mp4"}
+{"uid":"6539219820343488758","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Write something on the whiteboard with the green marker. last 20 steps: 1- pick up the marker 2- open the marker cap Q: immediate next step? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwrite on the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Write something on the whiteboard with the green marker. last 20 steps: 1- pick up the marker 2- open the marker cap Q: next 5 steps? \u003cPRED\u003eA: 1- write on the board 2- place the marker on the board edge 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Write something on the whiteboard with the green marker. Q: immediate next step? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e","video":"1063295998099435027.mp4"}
+{"uid":"15885245740623436684","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper 8- put banana on the table 9- place the banana on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper 8- put banana on the table 9- place the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13063782945190724082.mp4"}
+{"uid":"3702361733294192204","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace banana on the 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","video":"16662036376957851202.mp4"}
+{"uid":"8154233662372852958","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10628001257096683507.mp4"}
+{"uid":"3534488436074911643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink packet 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":"16438627392118121255.mp4"}
+{"uid":"14271826336958900935","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- put banana on the table 3- put banana 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 the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7279271963467594952.mp4"}
+{"uid":"1991463481426131558","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- place banana on the paper 3- put banana on the table 4- put banana on the table 5- put banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16956391656640178456.mp4"}
+{"uid":"10080810906713591524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue paper in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14613302993247043039.mp4"}
+{"uid":"7145209894890073410","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- put banana on the table 3- put banana on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"11578005295483011610.mp4"}
+{"uid":"16100856825740895943","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- place banana on the paper 3- put banana on the table 4- put banana on the table 5- put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e","video":"14259268168662311238.mp4"}
+{"uid":"1587549009989440555","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"17638458691542463464.mp4"}
+{"uid":"1863641578462609456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"7098136097085008783.mp4"}
+{"uid":"9130518144934313898","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":"17925202183414918620.mp4"}
+{"uid":"13502387402781430553","text":"\u003ctask:success:discrete:True\u003e\nplace banana on the 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: place banana on the paper\n\u003c/PRED\u003e","video":"1673044647847360659.mp4"}
+{"uid":"5842536582721940459","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper Q: immediate next step? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the table 2- put banana on the table 3- put banana on the table 4- place banana on the paper 5- put banana on the table\n\u003c/PRED\u003e","video":"3573600377134806944.mp4"}
+{"uid":"8953787833576702617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose 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":"9785215502311546477.mp4"}
+{"uid":"6966274418764534171","text":"\u003ctask:success:discrete:True\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"12828075598155663914.mp4"}
+{"uid":"3956875511838204634","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":"1150901130900915899.mp4"}
+{"uid":"14425672086373604205","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3615700100668228403.mp4"}
+{"uid":"9259093116669689142","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- put banana on the table 3- put banana on the table 4- place banana on the paper 5- put banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e","video":"5509833101257688556.mp4"}
+{"uid":"4742916423911296772","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10784786535599423549.mp4"}
+{"uid":"17207176644721399273","text":"\u003ctask:success:discrete:False\u003e\nopen the marker cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the marker cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Write something on the whiteboard with the green marker. last 20 steps: 1- pick up the marker Q: immediate next step? \u003cPRED\u003eA: open the marker cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the marker cap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Write something on the whiteboard with the green marker. Q: immediate next step? \u003cPRED\u003eA: open the marker cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Write something on the whiteboard with the green marker. last 20 steps: 1- pick up the marker Q: next 5 steps? \u003cPRED\u003eA: 1- open the marker cap 2- write on the board 3- place the marker on the board edge 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the marker cap\n\u003c/PRED\u003e","video":"11602416658889876113.mp4"}
+{"uid":"7943444077825732479","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the rold gold packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16087287034927510894.mp4"}
+{"uid":"13101424653550240844","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- put banana on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"74884614241088638.mp4"}
+{"uid":"14437163458198637170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"490977307957637849.mp4"}
+{"uid":"11175952176710094588","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the paper 2- place banana on the paper 3- put banana on the table 4- put banana on the table 5- put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace banana on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2403993094200613014.mp4"}
+{"uid":"4240616232554674348","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5016101623642383355.mp4"}
+{"uid":"8306870295423083477","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- place banana on the paper 3- put banana on the table 4- put banana on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15187203886395448790.mp4"}
+{"uid":"12314272860930660362","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper 8- put banana on the table Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper 8- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the paper 2- done\n\u003c/PRED\u003e","video":"6284055661858421813.mp4"}
+{"uid":"13178654986198179654","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- put banana on the table 3- put banana on the table 4- put banana on the table 5- place banana on the paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18272299527035554282.mp4"}
+{"uid":"13719969341880746927","text":"\u003ctask:success:discrete:True\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"11275569049555951806.mp4"}
+{"uid":"2259940554670262843","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":"1286362128034400158.mp4"}
+{"uid":"16492406717286165513","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3517885653045278655.mp4"}
+{"uid":"15232623813040152431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red pen on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6951872656201821774.mp4"}
+{"uid":"840505750087244571","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- put banana on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e","video":"6665705244124515969.mp4"}
+{"uid":"8136718948663526104","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":"3930873806575696418.mp4"}
+{"uid":"14553196823380752349","text":"\u003ctask:success:discrete:True\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper 8- put banana on the table 9- put banana 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: put banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper 8- put banana on the table 9- put banana on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1334798859380756895.mp4"}
+{"uid":"894020085036938079","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- put banana on the table 3- put banana on the table 4- place banana on the paper 5- put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"4158137692282859154.mp4"}
+{"uid":"15028843408969573502","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10086667570200020235.mp4"}
+{"uid":"5113531027577690585","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper 8- put banana on the table 9- place banana on the paper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace banana on the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper 8- put banana on the table 9- place banana on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3287426660273287607.mp4"}
+{"uid":"16317760228151917992","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- put banana on the table 3- place banana on the paper 4- put banana on the table 5- put banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e","video":"743898689862791353.mp4"}
+{"uid":"87043899926892891","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":"18186130821523433224.mp4"}
+{"uid":"18253781746695853946","text":"\u003ctask:success:discrete:True\u003e\nplace banana on the 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: place banana on the paper\n\u003c/PRED\u003e","video":"13866927774662814050.mp4"}
+{"uid":"4134592121420031075","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop fork into 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":"17530131760681920386.mp4"}
+{"uid":"6639981957410999996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the jar lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6783595268719056132.mp4"}
+{"uid":"3015146756222937913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop chocolate ball 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":"18267897254281416349.mp4"}
+{"uid":"5905851824120023367","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper 8- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana 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 banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper 8- put banana on the table Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9249976783625076946.mp4"}
+{"uid":"12883696586717256498","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- place banana on the paper 3- put banana on the table 4- put banana on the table 5- done\n\u003c/PRED\u003e","video":"16809370784096946315.mp4"}
+{"uid":"15999057891386771361","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the paper 2- put banana on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace banana on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7352756078027058192.mp4"}
+{"uid":"5935081714120325544","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- put banana on the table 3- put banana on the table 4- put banana on the table 5- place banana on the paper\n\u003c/PRED\u003e","video":"6251245087596983302.mp4"}
+{"uid":"14519602570490592629","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace banana on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the paper 2- place banana on the paper 3- put banana on the table 4- put banana on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e","video":"12977369858717841434.mp4"}
+{"uid":"15828417040347806797","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace banana on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14197650668990450392.mp4"}
+{"uid":"12919677995696764144","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker on the board edge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 marker on the board edge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Write something on the whiteboard with the green marker. last 20 steps: 1- pick up the marker 2- open the marker cap 3- write on the board Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker on the board edge 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Write something on the whiteboard with the green marker. last 20 steps: 1- pick up the marker 2- open the marker cap 3- write on the board Q: immediate next step? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker on the board edge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 marker on the board edge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Write something on the whiteboard with the green marker. Q: immediate next step? \u003cPRED\u003eA: place the marker on the board edge\n\u003c/PRED\u003e","video":"9603295299417147366.mp4"}
+{"uid":"539931890308069331","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper 8- put banana on the table Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table 7- place banana on the paper 8- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put banana on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: put banana on the table\n\u003c/PRED\u003e","video":"14835124300911875305.mp4"}
+{"uid":"4139795819528247973","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12285477281046800882.mp4"}
+{"uid":"4049283453991391959","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14157144392350392702.mp4"}
+{"uid":"6634302592771932335","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the paper 2- put banana on the table 3- put banana on the table 4- put banana on the table 5- place banana on the paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace banana on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e","video":"9773164662248191663.mp4"}
+{"uid":"14217637323034152593","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the paper 2- put banana on the table 3- put banana on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove bananas from the bowl. last 20 steps: 1- place banana on the paper 2- place banana on the paper 3- place banana on the paper 4- put banana on the table 5- put banana on the table 6- put banana on the table Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove bananas from the bowl Q: immediate next step? \u003cPRED\u003eA: place banana on the paper\n\u003c/PRED\u003e","video":"2095295395442763884.mp4"}
+{"uid":"18298582177351790739","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15419474534826295525.mp4"}
+{"uid":"13492282683688972540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9619837671553839116.mp4"}
+{"uid":"16358896213119199114","text":"\u003ctask:success:discrete:True\u003e\nwrite on the board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: write on the board\n\u003c/PRED\u003e","video":"3557807014987211242.mp4"}
+{"uid":"16646460467044707941","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":"15701469152036661124.mp4"}
+{"uid":"12557028239620617755","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal 6- Put the bowl on the table 7- Put the bowl on the counter of the dispenser 8- Fill the bowl with cereal 9- Put the bowl on the table Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal 6- Put the bowl on the table 7- Put the bowl on the counter of the dispenser 8- Fill the bowl with cereal 9- Put the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the left bowl 2- Put the spoon in the middle bowl 3- Put the spoon in the right bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the left bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoon in the left bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the spoon in the left bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the left bowl\n\u003c/PRED\u003e","video":"1668838362881047621.mp4"}
+{"uid":"8238970375908798325","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen  the  Drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open  the  Drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: open  the  Drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open  the  Drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer Q: immediate next step? \u003cPRED\u003eA: open  the  Drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open  the  Drawer 2- drop candy in drawer 3- drop the packet in drawer 4- drop the packet in drawer 5- drop the packet in 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":"9167470632565289089.mp4"}
+{"uid":"1847535625136417326","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer Q: immediate next step? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the chip packet in a drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the chip packet in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15584693144427632428.mp4"}
+{"uid":"12058931083935773888","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4756545556014305414.mp4"}
+{"uid":"177750153887925105","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":"17293739167135950259.mp4"}
+{"uid":"18374480389586807679","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":"513711431605980249.mp4"}
+{"uid":"3847431194399205327","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the Drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the Drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the Drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the Drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the Drawer\n\u003c/PRED\u003e","video":"15497547751093277429.mp4"}
+{"uid":"11694073904369094320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13882596152801368834.mp4"}
+{"uid":"12776376758067635673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace glass on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15592915433302104430.mp4"}
+{"uid":"8139935670401250399","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the chip packet in a drawer 2- drop packet in drawer 3- drop the packet into drawer 4- push the drawer 5- pull the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the chip packet in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the chip packet in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e","video":"18127433806598175166.mp4"}
+{"uid":"15871802282188719592","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the Drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the Drawer 2- drop packet in drawer 3- drop the packet into drawer 4- push the drawer 5- pull the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the Drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the Drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the Drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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":"9756923192526212129.mp4"}
+{"uid":"10936028321644501903","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- drop the packet into drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop the packet in drawer 6- drop the packet in drawer 7- drop the packet in drawer 8- drop candy in drawer 9- drop candy in drawer 10- drop candy in drawer 11- push the drawer 12- pull the drawer 13- drop candy in drawer 14- drop candy in drawer 15- push the drawer 16- pull the drawer 17- drop candy in drawer 18- drop candy in drawer 19- drop candy in drawer 20- push the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer 2- drop the packet in drawer 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npush the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- drop the packet into drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop the packet in drawer 6- drop the packet in drawer 7- drop the packet in drawer 8- drop candy in drawer 9- drop candy in drawer 10- drop candy in drawer 11- push the drawer 12- pull the drawer 13- drop candy in drawer 14- drop candy in drawer 15- push the drawer 16- pull the drawer 17- drop candy in drawer 18- drop candy in drawer 19- drop candy in drawer 20- push the drawer Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5653933851553493673.mp4"}
+{"uid":"1205436652901728797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15558407856417451150.mp4"}
+{"uid":"8736938160465409914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6966977320431774023.mp4"}
+{"uid":"17029799943582314688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to 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":"9221780831241736590.mp4"}
+{"uid":"10493335850331042101","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10410292958609679302.mp4"}
+{"uid":"5341615532725168414","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslightly move your arm 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":"13814454415618474690.mp4"}
+{"uid":"14295428658931833690","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy in drawer 2- drop candy in drawer 3- drop candy in drawer 4- push the drawer 5- pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy in 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet in 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:success:discrete:False\u003e\ndrop candy in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e","video":"2476361237179413576.mp4"}
+{"uid":"1116709200787249769","text":"\u003ctask:success:discrete:False\u003e\npush the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- drop packet in drawer 2- drop the packet into drawer 3- push the drawer 4- pull the drawer 5- drop candy in drawer 6- drop the packet in drawer 7- drop the packet in drawer 8- drop the packet in drawer 9- drop candy in drawer 10- drop candy in drawer 11- drop candy in drawer 12- push the drawer 13- pull the drawer 14- drop candy in drawer 15- drop candy in drawer 16- push the drawer 17- pull the drawer 18- drop candy in drawer 19- drop candy in drawer 20- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- push the drawer 2- pull the drawer 3- drop the packet in drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- drop packet in drawer 2- drop the packet into drawer 3- push the drawer 4- pull the drawer 5- drop candy in drawer 6- drop the packet in drawer 7- drop the packet in drawer 8- drop the packet in drawer 9- drop candy in drawer 10- drop candy in drawer 11- drop candy in drawer 12- push the drawer 13- pull the drawer 14- drop candy in drawer 15- drop candy in drawer 16- push the drawer 17- pull the drawer 18- drop candy in drawer 19- drop candy in drawer 20- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e","video":"17377445697293994069.mp4"}
+{"uid":"7530308693160839793","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black chip bag in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14485523895911511775.mp4"}
+{"uid":"9750758997042603783","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl on the table 2- Put the bowl on the counter of the dispenser 3- Fill the bowl with cereal 4- Put the bowl on the table 5- Put the spoon in the left bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e","video":"3279235808909658979.mp4"}
+{"uid":"11228728528356337751","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl on the counter of the dispenser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the counter of the dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl on the counter of the dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl on the counter of the dispenser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the counter of the dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl on the counter of the dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3405434265520853174.mp4"}
+{"uid":"2722519128793986010","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":"18233895171557111871.mp4"}
+{"uid":"15939088466607717774","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the wire in cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7677037932634209943.mp4"}
+{"uid":"9995409343822960477","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the candy in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer 20- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: put the candy in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy 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: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer 20- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the drawer 2- push the drawer 3- pull the drawer 4- drop the packet in drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy 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":"3140179642644473222.mp4"}
+{"uid":"2966167378348078663","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e","video":"9501910161052950593.mp4"}
+{"uid":"14039840987153535009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput numi 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":"10372046814546572576.mp4"}
+{"uid":"4638000519600083746","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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":"9042487882370364449.mp4"}
+{"uid":"11305697411884910358","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- drop the packet into drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop the packet in drawer 6- drop the packet in drawer 7- drop the packet in drawer 8- drop candy in drawer 9- drop candy in drawer 10- drop candy in drawer 11- push the drawer 12- pull the drawer 13- drop candy in drawer 14- drop candy in drawer 15- push the drawer 16- pull the drawer 17- drop candy in drawer 18- drop candy in drawer 19- drop candy in drawer 20- push the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- drop the packet into drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop the packet in drawer 6- drop the packet in drawer 7- drop the packet in drawer 8- drop candy in drawer 9- drop candy in drawer 10- drop candy in drawer 11- push the drawer 12- pull the drawer 13- drop candy in drawer 14- drop candy in drawer 15- push the drawer 16- pull the drawer 17- drop candy in drawer 18- drop candy in drawer 19- drop candy in drawer 20- push 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \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","video":"6852375603104627769.mp4"}
+{"uid":"17155427185204227967","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":"14016390081521029233.mp4"}
+{"uid":"8867954810684019286","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in drawer 2- drop packet in drawer 3- drop the packet into drawer 4- push the drawer 5- pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e","video":"3153327546865370245.mp4"}
+{"uid":"4807873724973229931","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer 2- drop candy in drawer 3- drop candy in drawer 4- push the drawer 5- pull the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e","video":"11909150247609701526.mp4"}
+{"uid":"9000593570669213422","text":"\u003ctask:success:discrete:True\u003e\npush the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer 2- drop candy in drawer 3- drop candy in drawer 4- drop candy in drawer 5- push the drawer\n\u003c/PRED\u003e","video":"8081182313578329245.mp4"}
+{"uid":"4249636249397505964","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"407440421234955451.mp4"}
+{"uid":"620110065382450648","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer 20- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a drawer 2- push the drawer 3- pull the drawer 4- drop the packet in drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer 20- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e","video":"5839239676317090693.mp4"}
+{"uid":"9189923608053726830","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy in drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e","video":"13697943908610843754.mp4"}
+{"uid":"5567756913302259163","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- drop candy in drawer 3- drop candy in drawer 4- drop candy in drawer 5- push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"6346928418057125929.mp4"}
+{"uid":"1301820906343712083","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the coke can in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3007045846011050618.mp4"}
+{"uid":"231325947137923869","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the candy in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy 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: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: put the candy in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy 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: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e","video":"8186563841445661995.mp4"}
+{"uid":"6751387080861525573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet in the brown 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":"14651275004354335626.mp4"}
+{"uid":"16039800002322461404","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nFill the bowl with cereal Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: Fill the bowl with cereal\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFill the bowl with cereal Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fill the bowl with cereal\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal 6- Put the bowl on the table 7- Put the bowl on the counter of the dispenser Q: next 5 steps? \u003cPRED\u003eA: 1- Fill the bowl with cereal 2- Put the bowl on the table 3- Put the spoon in the left bowl 4- Put the spoon in the middle bowl 5- Put the spoon in the right bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fill the bowl with cereal\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal 6- Put the bowl on the table 7- Put the bowl on the counter of the dispenser Q: immediate next step? \u003cPRED\u003eA: Fill the bowl with cereal\n\u003c/PRED\u003e","video":"9518434349251001047.mp4"}
+{"uid":"12208467187084052238","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- drop packet in drawer 2- drop the packet into drawer 3- push the drawer 4- pull the drawer 5- drop candy in drawer 6- drop the packet in drawer 7- drop the packet in drawer 8- drop the packet in drawer 9- drop candy in drawer 10- drop candy in drawer 11- drop candy in drawer 12- push the drawer 13- pull the drawer 14- drop candy in drawer 15- drop candy in drawer 16- push the drawer 17- pull the drawer 18- drop candy in drawer 19- drop candy in drawer 20- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- pull the drawer 3- drop the packet in drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: 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: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- drop packet in drawer 2- drop the packet into drawer 3- push the drawer 4- pull the drawer 5- drop candy in drawer 6- drop the packet in drawer 7- drop the packet in drawer 8- drop the packet in drawer 9- drop candy in drawer 10- drop candy in drawer 11- drop candy in drawer 12- push the drawer 13- pull the drawer 14- drop candy in drawer 15- drop candy in drawer 16- push the drawer 17- pull the drawer 18- drop candy in drawer 19- drop candy in drawer 20- drop candy in 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:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"4147749470042551600.mp4"}
+{"uid":"4010523679394960416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen holder 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":"11940284079579636345.mp4"}
+{"uid":"7976657449304883574","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- drop the packet in drawer 2- drop packet in drawer 3- drop the packet into drawer 4- push the drawer 5- pull the drawer 6- drop candy in drawer 7- drop the packet in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop candy in drawer 11- drop candy in drawer 12- drop candy in drawer 13- push the drawer 14- pull the drawer 15- drop candy in drawer 16- drop candy in drawer 17- push the drawer 18- pull the drawer 19- drop candy in drawer 20- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy in drawer 2- push the drawer 3- pull the drawer 4- drop the packet in drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- drop the packet in drawer 2- drop packet in drawer 3- drop the packet into drawer 4- push the drawer 5- pull the drawer 6- drop candy in drawer 7- drop the packet in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop candy in drawer 11- drop candy in drawer 12- drop candy in drawer 13- push the drawer 14- pull the drawer 15- drop candy in drawer 16- drop candy in drawer 17- push the drawer 18- pull the drawer 19- drop candy in drawer 20- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy in 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy in 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":"16991493292351468335.mp4"}
+{"uid":"11383132880845422407","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack lid on top of the existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1338967193774039356.mp4"}
+{"uid":"795222526382494175","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- push the drawer 2- pull the drawer 3- drop candy in drawer 4- drop candy in drawer 5- push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15539876981184188581.mp4"}
+{"uid":"311803631331691934","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- drop the packet in drawer 2- drop packet in drawer 3- drop the packet into drawer 4- push the drawer 5- pull the drawer 6- drop candy in drawer 7- drop the packet in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop candy in drawer 11- drop candy in drawer 12- drop candy in drawer 13- push the drawer 14- pull the drawer 15- drop candy in drawer 16- drop candy in drawer 17- push the drawer 18- pull the drawer 19- drop candy in drawer 20- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- drop the packet in drawer 2- drop packet in drawer 3- drop the packet into drawer 4- push the drawer 5- pull the drawer 6- drop candy in drawer 7- drop the packet in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop candy in drawer 11- drop candy in drawer 12- drop candy in drawer 13- push the drawer 14- pull the drawer 15- drop candy in drawer 16- drop candy in drawer 17- push the drawer 18- pull the drawer 19- drop candy in drawer 20- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- pull the drawer 3- drop the packet in drawer 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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":"17310899074867511361.mp4"}
+{"uid":"8550556555991351975","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plates Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8523211866691498167.mp4"}
+{"uid":"532858552183022219","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pepsi can in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"97214814417427941.mp4"}
+{"uid":"3866964882399522230","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- push the drawer 2- pull the drawer 3- drop candy in drawer 4- drop the packet in drawer 5- drop the packet in drawer 6- drop the packet in drawer 7- drop candy in drawer 8- drop candy in drawer 9- drop candy in drawer 10- push the drawer 11- pull the drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- drop candy in drawer 19- push the drawer 20- pull the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- push the drawer 2- pull the drawer 3- drop candy in drawer 4- drop the packet in drawer 5- drop the packet in drawer 6- drop the packet in drawer 7- drop candy in drawer 8- drop candy in drawer 9- drop candy in drawer 10- push the drawer 11- pull the drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- drop candy in drawer 19- push the drawer 20- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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":"6953042283929098142.mp4"}
+{"uid":"7914000667037336118","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"29517913727397798.mp4"}
+{"uid":"4969708596063885069","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove tray outside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12333805802145671796.mp4"}
+{"uid":"12001679872015661172","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet 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: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"12491163814952412562.mp4"}
+{"uid":"10099965950793859371","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy in 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: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer 20- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer 20- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy in drawer 2- drop candy in drawer 3- push the drawer 4- pull the drawer 5- drop the packet in drawer\n\u003c/PRED\u003e","video":"15129610927544665648.mp4"}
+{"uid":"8966979723133670861","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy in drawer 2- drop candy in drawer 3- push the drawer 4- pull the drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy in 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":"4754200211058399574.mp4"}
+{"uid":"10959455174042662099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4568546023976833723.mp4"}
+{"uid":"15336099213228433670","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer 2- drop candy in drawer 3- drop the packet in drawer 4- drop the packet in drawer 5- drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npush the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e","video":"14858761515135716052.mp4"}
+{"uid":"18336342268421971826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11369406277411027233.mp4"}
+{"uid":"16490568955648794417","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the spork 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":"6491378845554257905.mp4"}
+{"uid":"5044157446317015238","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser Q: immediate next step? \u003cPRED\u003eA: Fill the bowl with cereal\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser Q: next 5 steps? \u003cPRED\u003eA: 1- Fill the bowl with cereal 2- Put the bowl on the table 3- Put the bowl on the counter of the dispenser 4- Fill the bowl with cereal 5- Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: Fill the bowl with cereal\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFill the bowl with cereal Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fill the bowl with cereal\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFill the bowl with cereal Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fill the bowl with cereal\n\u003c/PRED\u003e","video":"9898546889509036042.mp4"}
+{"uid":"13393825190420340519","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- drop candy in drawer 3- push the drawer 4- pull the drawer 5- drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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":"2521189604300692541.mp4"}
+{"uid":"5598338276686541159","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal 6- Put the bowl on the table 7- Put the bowl on the counter of the dispenser 8- Fill the bowl with cereal Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal 6- Put the bowl on the table 7- Put the bowl on the counter of the dispenser 8- Fill the bowl with cereal Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl on the table 2- Put the spoon in the left bowl 3- Put the spoon in the middle bowl 4- Put the spoon in the right bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e","video":"12876003493460537583.mp4"}
+{"uid":"8543992216322544410","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a Banana 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":"2168135674698952732.mp4"}
+{"uid":"2918563665092582861","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a red packet in the black stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9515588061145665551.mp4"}
+{"uid":"3554340409648358233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two green suger 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":"7340803046979483677.mp4"}
+{"uid":"13467675403792779836","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow packet in a drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow packet in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow packet in a drawer 2- drop the packet in drawer 3- drop candy in drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow packet in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow packet in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in a drawer\n\u003c/PRED\u003e","video":"7165307794198784600.mp4"}
+{"uid":"17086237191805381038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen in the right side stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15091199465173189549.mp4"}
+{"uid":"11431766713295418693","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl on the counter of the dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the counter of the dispenser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the counter of the dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl on the counter of the dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl on the counter of the dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl on the counter of the dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9111252452168119332.mp4"}
+{"uid":"2348359671366663786","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- push the drawer 2- pull the drawer 3- drop candy in drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9769713727328086328.mp4"}
+{"uid":"6602406720247397047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the cable into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13567611025312710572.mp4"}
+{"uid":"4971071133356990278","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":"14752921254600995059.mp4"}
+{"uid":"1798655118059399076","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal 6- Put the bowl on the table 7- Put the bowl on the counter of the dispenser 8- Fill the bowl with cereal 9- Put the bowl on the table 10- Put the spoon in the left bowl 11- Put the spoon in the middle bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the right bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal 6- Put the bowl on the table 7- Put the bowl on the counter of the dispenser 8- Fill the bowl with cereal 9- Put the bowl on the table 10- Put the spoon in the left bowl 11- Put the spoon in the middle bowl Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the right bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the right 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 make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the right bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the right bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the spoon in the right 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 spoon in the right bowl\n\u003c/PRED\u003e","video":"16808569645160613643.mp4"}
+{"uid":"2835555639239842745","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the Drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the Drawer 2- pull the drawer 3- drop candy in drawer 4- drop the packet in drawer 5- drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the Drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the Drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the Drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the Drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the Drawer\n\u003c/PRED\u003e","video":"16019769494120768370.mp4"}
+{"uid":"7798685186310638398","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- push the drawer 2- pull the drawer 3- drop candy in drawer 4- drop the packet in drawer 5- drop the packet in drawer 6- drop the packet in drawer 7- drop candy in drawer 8- drop candy in drawer 9- drop candy in drawer 10- push the drawer 11- pull the drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- drop candy in drawer 19- push the drawer 20- pull the drawer Q: immediate next step? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- push the drawer 2- pull the drawer 3- drop candy in drawer 4- drop the packet in drawer 5- drop the packet in drawer 6- drop the packet in drawer 7- drop candy in drawer 8- drop candy in drawer 9- drop candy in drawer 10- push the drawer 11- pull the drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- drop candy in drawer 19- push the drawer 20- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in 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: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e","video":"14415461471662802383.mp4"}
+{"uid":"9048420106311206526","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- push the drawer 2- pull the drawer 3- drop candy in drawer 4- drop the packet in drawer 5- drop the packet in drawer\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:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e","video":"2164637840400870147.mp4"}
+{"uid":"12261714986721177226","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet in drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop packet in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer Q: immediate next step? \u003cPRED\u003eA: drop packet in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet in 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: drop packet in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet in drawer 2- drop the packet into drawer 3- push the drawer 4- pull the drawer 5- drop candy in drawer\n\u003c/PRED\u003e","video":"11922350027163519518.mp4"}
+{"uid":"4898570779422125016","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy in drawer 2- drop candy in drawer 3- drop candy in drawer 4- push the drawer 5- pull the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop candy in 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: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e","video":"10059388419743302322.mp4"}
+{"uid":"6334546139053498213","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e","video":"7511578852218996073.mp4"}
+{"uid":"8885235213852011269","text":"\u003ctask:success:discrete:False\u003e\nPut the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl on the table 2- Put the bowl on the counter of the dispenser 3- Fill the bowl with cereal 4- Put the bowl on the table 5- Put the bowl on the counter of the dispenser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8474172926186231693.mp4"}
+{"uid":"1943536589487782036","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet into drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet into drawer\n\u003c/PRED\u003e","video":"7184613569192177569.mp4"}
+{"uid":"15055634036394248633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the right 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":"17494602028687350482.mp4"}
+{"uid":"17629368879640769413","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- drop candy in drawer 3- drop candy in drawer 4- drop candy in drawer 5- push the drawer\n\u003c/PRED\u003e","video":"5539226799172199192.mp4"}
+{"uid":"7240507396488666382","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy in drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy in 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":"14727345630595697628.mp4"}
+{"uid":"16104315787869154643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange 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":"2246668625625359980.mp4"}
+{"uid":"6441012861214444405","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow packet in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow packet in a drawer 2- drop the packet in drawer 3- drop candy in drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow packet in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow packet in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in a drawer\n\u003c/PRED\u003e","video":"15681769025528561837.mp4"}
+{"uid":"3424967494807188206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange plate 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":"17068118338928620347.mp4"}
+{"uid":"5568876887639421003","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":"1559843114423661314.mp4"}
+{"uid":"18124418931538666379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pip corn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17018522968436877144.mp4"}
+{"uid":"8302969907712129424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cold brew can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17725040121132571825.mp4"}
+{"uid":"13336187220014280012","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- pull the drawer 3- drop candy in drawer 4- drop candy in drawer 5- push 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: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in 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:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"9170729278825560299.mp4"}
+{"uid":"17485566977225714570","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl on the counter of the dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal 6- Put the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the spoon in the left bowl 5- Put the spoon in the middle bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl on the counter of the dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl on the counter of the dispenser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal 6- Put the bowl on the table Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the counter of the dispenser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl on the counter of the dispenser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the counter of the dispenser\n\u003c/PRED\u003e","video":"7473092770695565972.mp4"}
+{"uid":"9273277299613837322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange 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":"524588729841462345.mp4"}
+{"uid":"2340785329376955055","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: Fill the bowl with cereal\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fill the bowl with cereal\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFill the bowl with cereal Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser Q: next 5 steps? \u003cPRED\u003eA: 1- Fill the bowl with cereal 2- Put the bowl on the table 3- Put the bowl on the counter of the dispenser 4- Fill the bowl with cereal 5- Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFill the bowl with cereal Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser Q: immediate next step? \u003cPRED\u003eA: Fill the bowl with cereal\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fill the bowl with cereal\n\u003c/PRED\u003e","video":"17019087487408546081.mp4"}
+{"uid":"8058314921112545174","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the white and green packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17184616849087878398.mp4"}
+{"uid":"18172771756571532578","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the packet in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: drop the packet in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in a drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8708664461835371828.mp4"}
+{"uid":"14628190947102565593","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":"9406337730796800153.mp4"}
+{"uid":"2237999843230599698","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the Drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the Drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: open the Drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the Drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the Drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . 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","video":"17808228815037829908.mp4"}
+{"uid":"18331074918828554034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11399572908688253861.mp4"}
+{"uid":"17376201701874198164","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the chip packet in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the chip packet in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the chip packet in a drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer Q: immediate next step? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e","video":"5735064309812528728.mp4"}
+{"uid":"920643122020275158","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12532687422164396182.mp4"}
+{"uid":"7982646970172298326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17270718661525845978.mp4"}
+{"uid":"14091288358054051433","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in drawer 2- drop the packet in drawer 3- drop candy in drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer Q: immediate next step? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e","video":"4772332472018613541.mp4"}
+{"uid":"13418879212881117906","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: open  the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push 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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open  the drawer 2- drop candy in drawer 3- push the drawer 4- pull the drawer 5- drop candy in drawer\n\u003c/PRED\u003e","video":"5097545276199054879.mp4"}
+{"uid":"14775930692678915287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"260235919687068940.mp4"}
+{"uid":"16774181428317215032","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":"711159760416636806.mp4"}
+{"uid":"15664921566076704323","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet 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: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- pull the drawer 3- drop candy in drawer 4- drop candy in drawer 5- push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"15994478726879492350.mp4"}
+{"uid":"12920435287272269494","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in 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:True\u003e\ndrop candy in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in drawer 2- drop the packet in drawer 3- drop the packet in drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e","video":"12952895673467942473.mp4"}
+{"uid":"3535762675857653428","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17604931691974566835.mp4"}
+{"uid":"11299930652372289023","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":"13743645207242023313.mp4"}
+{"uid":"3275291905058874965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep red packet on right side of the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14770930429106775797.mp4"}
+{"uid":"4027484792870334982","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8103945824258326404.mp4"}
+{"uid":"11920947515041598887","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the rold gold 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":"5945326753631417188.mp4"}
+{"uid":"13558664748632774834","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- drop candy in drawer 3- drop candy in drawer 4- push the drawer 5- pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"13612263444870235284.mp4"}
+{"uid":"3201506985175593231","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- drop the packet in drawer 2- drop packet in drawer 3- drop the packet into drawer 4- push the drawer 5- pull the drawer 6- drop candy in drawer 7- drop the packet in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop candy in drawer 11- drop candy in drawer 12- drop candy in drawer 13- push the drawer 14- pull the drawer 15- drop candy in drawer 16- drop candy in drawer 17- push the drawer 18- pull the drawer 19- drop candy in drawer 20- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a drawer 2- push the drawer 3- pull the drawer 4- drop the packet in drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- drop the packet in drawer 2- drop packet in drawer 3- drop the packet into drawer 4- push the drawer 5- pull the drawer 6- drop candy in drawer 7- drop the packet in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop candy in drawer 11- drop candy in drawer 12- drop candy in drawer 13- push the drawer 14- pull the drawer 15- drop candy in drawer 16- drop candy in drawer 17- push the drawer 18- pull the drawer 19- drop candy in drawer 20- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e","video":"6484368736764876324.mp4"}
+{"uid":"8607485264447861004","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":"4980136201686498059.mp4"}
+{"uid":"18203718182052051679","text":"\u003ctask:success:discrete:False\u003e\nput the packet 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: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- drop the packet in drawer 3- drop candy in drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e","video":"7093311693540105903.mp4"}
+{"uid":"4591778527341563678","text":"\u003ctask:success:discrete:True\u003e\ndrop packet in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet into drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer Q: immediate next step? \u003cPRED\u003eA: drop the packet into drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into drawer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet in drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the packet into drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into 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":"10364520396616901651.mp4"}
+{"uid":"17324187498624015583","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a can inside the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16109529690229580318.mp4"}
+{"uid":"18351565796600472645","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"13036821136225056619.mp4"}
+{"uid":"17180363244018741397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper glasses 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":"9690813469005572794.mp4"}
+{"uid":"10164997049396779558","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue notebook on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9262866138700242809.mp4"}
+{"uid":"17963573791128615911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1728625929610524074.mp4"}
+{"uid":"7598660772657565283","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow packet in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the yellow packet in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11162699555099967913.mp4"}
+{"uid":"2268429794481725863","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: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- pull the drawer 2- drop candy in drawer 3- drop the packet in drawer 4- drop the packet in drawer 5- drop the packet in drawer 6- drop candy in drawer 7- drop candy in drawer 8- drop candy in drawer 9- push the drawer 10- pull the drawer 11- drop candy in drawer 12- drop candy in drawer 13- push the drawer 14- pull the drawer 15- drop candy in drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer 20- drop the packet in drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- pull the drawer 2- drop candy in drawer 3- drop the packet in drawer 4- drop the packet in drawer 5- drop the packet in drawer 6- drop candy in drawer 7- drop candy in drawer 8- drop candy in drawer 9- push the drawer 10- pull the drawer 11- drop candy in drawer 12- drop candy in drawer 13- push the drawer 14- pull the drawer 15- drop candy in drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer 20- drop the packet in 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","video":"5048753574394756590.mp4"}
+{"uid":"14538582326386779686","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"417348272094802163.mp4"}
+{"uid":"2174589083954813604","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop candy in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy in drawer 2- drop candy in drawer 3- push the drawer 4- pull the drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy in 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":"666788236437699239.mp4"}
+{"uid":"7344040119113370589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9074440958256668874.mp4"}
+{"uid":"10199489620180837109","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the drawer 2- drop the packet in drawer 3- drop the packet in drawer 4- drop the packet in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: put the candy in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy 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: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer Q: immediate next step? \u003cPRED\u003eA: put the candy in the drawer\n\u003c/PRED\u003e","video":"15320417611237652456.mp4"}
+{"uid":"66769360095202311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green 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":"11700092354228749426.mp4"}
+{"uid":"10696198671892368192","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":"14786945517196497977.mp4"}
+{"uid":"3712609866422682459","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a drawer 2- pull the drawer 3- drop candy in drawer 4- drop candy in drawer 5- push the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5387838226832020153.mp4"}
+{"uid":"3085536419066069299","text":"\u003ctask:success:discrete:False\u003e\ndrop candy in drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop candy in drawer 2- drop the packet in drawer 3- drop the packet in drawer 4- drop the packet in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop candy in 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":"13610557705499906198.mp4"}
+{"uid":"16471242273511506469","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer Q: immediate next step? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a drawer 2- drop candy in drawer 3- push the drawer 4- pull the drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the candy in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11750888368630288522.mp4"}
+{"uid":"545593319038850594","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet 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":"7603321528883697918.mp4"}
+{"uid":"14802441828051732293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brush 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":"233439339666801865.mp4"}
+{"uid":"16820707918609569275","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the straw into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10337193864010809439.mp4"}
+{"uid":"6412017057564474389","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the blue pen from 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":"3013680470684080799.mp4"}
+{"uid":"10603152157785350221","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the 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: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: Can you please orgainze the chips into top drawer and candies into middle 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- drop candy in drawer 3- drop candy in drawer 4- drop candy in drawer 5- push the drawer\n\u003c/PRED\u003e","video":"9296576629664638270.mp4"}
+{"uid":"1267384265025715636","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky note 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":"12988880499472781609.mp4"}
+{"uid":"14496924153327536598","text":"\u003ctask:success:discrete:False\u003e\nPut the spoon in the middle bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the middle bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the middle bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the middle bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal 6- Put the bowl on the table 7- Put the bowl on the counter of the dispenser 8- Fill the bowl with cereal 9- Put the bowl on the table 10- Put the spoon in the left bowl Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the middle bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoon in the middle bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me three bowl of cereal and put a spoon in each bowl. last 20 steps: 1- Put the bowl on the counter of the dispenser 2- Fill the bowl with cereal 3- Put the bowl on the table 4- Put the bowl on the counter of the dispenser 5- Fill the bowl with cereal 6- Put the bowl on the table 7- Put the bowl on the counter of the dispenser 8- Fill the bowl with cereal 9- Put the bowl on the table 10- Put the spoon in the left bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the middle bowl 2- Put the spoon in the right bowl 3- done\n\u003c/PRED\u003e","video":"11716436528694751925.mp4"}
+{"uid":"11555454698237192075","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the egg 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":"1500304677693301522.mp4"}
+{"uid":"9172165070633009607","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- pull the drawer 3- drop candy in drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e","video":"14192381000237840881.mp4"}
+{"uid":"11186705941072453933","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:success:discrete:False\u003e\nclose the  Drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the  Drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the  Drawer 2- pull the drawer 3- drop candy in drawer 4- drop the packet in drawer 5- drop the packet in 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: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: close the  Drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer Q: immediate next step? \u003cPRED\u003eA: close the  Drawer\n\u003c/PRED\u003e","video":"8496458100745651727.mp4"}
+{"uid":"8188579929359086445","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- push the drawer 2- pull the drawer 3- drop candy in drawer 4- drop the packet in drawer 5- drop the packet in drawer 6- drop the packet in drawer 7- drop candy in drawer 8- drop candy in drawer 9- drop candy in drawer 10- push the drawer 11- pull the drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- drop candy in drawer 19- push the drawer 20- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in a drawer 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- push the drawer 2- pull the drawer 3- drop candy in drawer 4- drop the packet in drawer 5- drop the packet in drawer 6- drop the packet in drawer 7- drop candy in drawer 8- drop candy in drawer 9- drop candy in drawer 10- push the drawer 11- pull the drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- drop candy in drawer 19- push the drawer 20- pull the drawer Q: immediate next step? \u003cPRED\u003eA: drop the packet in a drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the packet in a drawer\n\u003c/PRED\u003e","video":"6142066128337990482.mp4"}
+{"uid":"10538001614523066536","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the candy in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10254730918108656476.mp4"}
+{"uid":"7127751175853092549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16667178528321348247.mp4"}
+{"uid":"5514679188281063038","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer Q: immediate next step? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow packet in a drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet in 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:True\u003e\ndrop the yellow packet in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet in drawer 2- drop candy in drawer 3- drop candy in drawer 4- drop candy in drawer 5- push the drawer\n\u003c/PRED\u003e","video":"1559451022287882183.mp4"}
+{"uid":"14251799011184503555","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"4306041974637884639.mp4"}
+{"uid":"1046463499883470296","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the chip packet in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the chip packet in a drawer 2- push the drawer 3- pull the drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer Q: immediate next step? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the chip packet in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e","video":"7979556936919984206.mp4"}
+{"uid":"11637832272409178987","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow packet in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow packet in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow packet in a drawer 2- drop candy in drawer 3- drop candy in drawer 4- drop candy in drawer 5- push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow packet in a drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in a drawer\n\u003c/PRED\u003e","video":"12533896929425602898.mp4"}
+{"uid":"7743269919537141644","text":"\u003ctask:success:discrete:False\u003e\ndrop the candy in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer Q: immediate next step? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a drawer 2- drop candy in drawer 3- drop candy in drawer 4- push the drawer 5- pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e","video":"2612123478430849497.mp4"}
+{"uid":"12662413808650701855","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet in drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet in 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":"14784861937078854819.mp4"}
+{"uid":"334468870380297451","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":"17320342832492405546.mp4"}
+{"uid":"3027727855624348144","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the sticky notepad 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":"18095313865212629488.mp4"}
+{"uid":"5919891359038147639","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: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- pull the drawer 3- drop candy in drawer 4- drop candy in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer 7- drop candy in drawer 8- drop the packet in drawer 9- drop the packet in drawer 10- drop the packet in drawer 11- drop candy in drawer 12- drop candy in drawer 13- drop candy in drawer 14- push the drawer 15- pull the drawer 16- drop candy in drawer 17- drop candy in drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"2665541290349230685.mp4"}
+{"uid":"8233997466747805460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18412147131707825016.mp4"}
+{"uid":"14545712586886043468","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- pull the drawer 2- drop candy in drawer 3- drop the packet in drawer 4- drop the packet in drawer 5- drop the packet in drawer 6- drop candy in drawer 7- drop candy in drawer 8- drop candy in drawer 9- push the drawer 10- pull the drawer 11- drop candy in drawer 12- drop candy in drawer 13- push the drawer 14- pull the drawer 15- drop candy in drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer 20- drop the packet in drawer Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- pull the drawer 2- drop candy in drawer 3- drop the packet in drawer 4- drop the packet in drawer 5- drop the packet in drawer 6- drop candy in drawer 7- drop candy in drawer 8- drop candy in drawer 9- push the drawer 10- pull the drawer 11- drop candy in drawer 12- drop candy in drawer 13- push the drawer 14- pull the drawer 15- drop candy in drawer 16- drop candy in drawer 17- drop candy in drawer 18- push the drawer 19- pull the drawer 20- drop the packet in drawer Q: next 5 steps? \u003cPRED\u003eA: 1- push the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e","video":"16312895963879888402.mp4"}
+{"uid":"3850489019661498879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop white 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":"1523643955819921558.mp4"}
+{"uid":"18229930751088715576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut candy on 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":"7947193452161199271.mp4"}
+{"uid":"1013296013386921470","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9957891644141856356.mp4"}
+{"uid":"14467608172217744915","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10575493566249687747.mp4"}
+{"uid":"16997136485312567165","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a drawer 2- drop the packet in drawer 3- drop the packet in drawer 4- drop the packet in drawer 5- drop candy in drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. . last 20 steps: 1- open the drawer 2- drop the packet in drawer 3- drop packet in drawer 4- drop the packet into drawer 5- push the drawer 6- pull the drawer Q: immediate next step? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the candy in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please orgainze the chips into top drawer and candies into middle drawer. Q: immediate next step? \u003cPRED\u003eA: drop the candy in a drawer\n\u003c/PRED\u003e","video":"4676428709406844591.mp4"}
+{"uid":"14614176228114655813","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace an 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":"12403239006942853463.mp4"}
+{"uid":"12956422281524443487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nthrow the paper 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":"434701442025026755.mp4"}
+{"uid":"4570383141563883861","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"14633323417474566431.mp4"}
+{"uid":"5505536920915398966","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the chip packet in a drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the chip packet in a drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6940324567573600352.mp4"}
+{"uid":"13230492226962892270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the apple from the counter top Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11622317464168427053.mp4"}
+{"uid":"9392807365264238059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3432058631552791382.mp4"}
+{"uid":"13139272285854081645","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass Q: immediate next step? \u003cPRED\u003eA: Stack the other glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the other glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the other glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the other glass 2- Stack the  glass 3- stack the glass 4- stack the glass 5- move the stack of cups backwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Stack the other glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the other 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\nStack the other 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":"4062512234045090813.mp4"}
+{"uid":"8415582260327068439","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- place the orange on the table 2- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- place the orange on the table 2- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"5196434035410795423.mp4"}
+{"uid":"13187845546217599833","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- put orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the table 2- put orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e","video":"13348581088999877777.mp4"}
+{"uid":"8388053307599193864","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- Stack the  glass 3- stack the glass 4- stack the glass 5- move the stack of cups backwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"3927489528568054099.mp4"}
+{"uid":"9184052816199926870","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":"16961861940819336211.mp4"}
+{"uid":"5017827355792678374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2335595209396367803.mp4"}
+{"uid":"10773736450606028501","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput lid of the jar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8065881361875195875.mp4"}
+{"uid":"2640370439854330621","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the other glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Stack the other glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the other glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the other 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: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass Q: immediate next step? \u003cPRED\u003eA: Stack the other glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the other glass 2- Stack the  glass 3- stack the cups 4- Stack the  glass 5- stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the other glass\n\u003c/PRED\u003e","video":"18362245979640611055.mp4"}
+{"uid":"5488185155972198748","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the  glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups 7- Stack the  glass 8- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the  glass 2- move the stack of cups backwards 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the  glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups 7- Stack the  glass 8- stack the glass Q: immediate next step? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e","video":"7649305754512785375.mp4"}
+{"uid":"11553374010291095190","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2524364765384834197.mp4"}
+{"uid":"14995264323858158413","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9280378819876185112.mp4"}
+{"uid":"7992804401773520745","text":"\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"10117184817390704946.mp4"}
+{"uid":"1182580108471558316","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- move the stack of cups backwards 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11667042092181112569.mp4"}
+{"uid":"6584434774960996940","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups 7- Stack the  glass 8- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cups 2- move the stack of cups backwards 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups 7- Stack the  glass 8- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2813204443752887461.mp4"}
+{"uid":"8312861458382193632","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cups 2- Stack the  glass 3- stack the glass 4- stack the glass 5- move the stack of cups backwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e","video":"2520775356145636195.mp4"}
+{"uid":"16578185607267241401","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"3771140013256581747.mp4"}
+{"uid":"14995438826271869969","text":"\u003ctask:success:discrete:True\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e","video":"15492955794545456041.mp4"}
+{"uid":"3238146174268683070","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- put orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15075436057811046912.mp4"}
+{"uid":"17818009620544656516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop nut 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":"528327120198277463.mp4"}
+{"uid":"15389266425280454007","text":"\u003ctask:success:discrete:False\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cups 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e","video":"12867655317184615702.mp4"}
+{"uid":"7012667475680634268","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cups 2- stack the glass 3- stack the glass 4- move the stack of cups backwards 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e","video":"7298817658645273835.mp4"}
+{"uid":"8836605869646455676","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11883368351734097208.mp4"}
+{"uid":"1369922905454575080","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2277562996183486643.mp4"}
+{"uid":"2344808370513200058","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the other glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the other 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":"8938888011013717259.mp4"}
+{"uid":"5028779339371425678","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- stack the cups 3- Stack the  glass 4- stack the cups 5- Stack the  glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10437467682202399240.mp4"}
+{"uid":"3498495813656332664","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- place the orange on the table 2- Place the orange on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- place the orange on the table 2- Place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e","video":"26935597358473828.mp4"}
+{"uid":"14418801784514059449","text":"\u003ctask:success:discrete:True\u003e\nStack the  glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e","video":"17157721663865093857.mp4"}
+{"uid":"14987331150758275258","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e","video":"13232112197898406813.mp4"}
+{"uid":"9312588444647041087","text":"\u003ctask:success:discrete:False\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cups 2- stack the glass 3- stack the cups 4- Stack the  glass 5- stack the cups\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e","video":"8312400456123883355.mp4"}
+{"uid":"17159830136167664308","text":"\u003ctask:success:discrete:True\u003e\nStack other 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: Stack other glass\n\u003c/PRED\u003e","video":"725648635934210243.mp4"}
+{"uid":"5634601783116946633","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the  glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the  glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups 7- Stack the  glass Q: immediate next step? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups 7- Stack the  glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the  glass 2- move the stack of cups backwards 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e","video":"17895446172961720987.mp4"}
+{"uid":"5152619027405983567","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pepsi in the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17450044648450818774.mp4"}
+{"uid":"9068201578326785038","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack other glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack other glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass Q: immediate next step? \u003cPRED\u003eA: Stack other glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack other 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\nStack other glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Stack other glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack other glass 2- stack the glass 3- stack the cups 4- Stack the  glass 5- stack the cups\n\u003c/PRED\u003e","video":"16409630174453740077.mp4"}
+{"uid":"3038572449201323688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"4685132644623874164.mp4"}
+{"uid":"10536283871711680220","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups 7- Stack the  glass 8- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups 7- Stack the  glass 8- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- move the stack of cups backwards 3- done\n\u003c/PRED\u003e","video":"3268659492881574029.mp4"}
+{"uid":"17383230478355065936","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the yellow pack 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":"10892505426159586478.mp4"}
+{"uid":"2868381645722365306","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- place the orange on the table 2- put orange on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- place the orange on the table 2- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12546922292339941828.mp4"}
+{"uid":"9386902851303446224","text":"\u003ctask:success:discrete:True\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e","video":"9934830619637785409.mp4"}
+{"uid":"2424468271078395397","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- stack the glass 4- move the stack of cups backwards 5- done\n\u003c/PRED\u003e","video":"11298416178331457283.mp4"}
+{"uid":"10094859032103192917","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the cups 3- Stack the  glass 4- stack the cups 5- Stack the  glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"6806542500451852781.mp4"}
+{"uid":"4675926076027902299","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":"5031475954059137879.mp4"}
+{"uid":"6583320093529029284","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\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15971399861782191013.mp4"}
+{"uid":"15179510637350622699","text":"\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"15896048959169043709.mp4"}
+{"uid":"16626262299170093962","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the crushed paper into the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7131707213459002446.mp4"}
+{"uid":"3987800222208027323","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- stack the cups 4- Stack the  glass 5- stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"8172358191814902038.mp4"}
+{"uid":"7925885449338775142","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the other glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the other 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":"14896030811261301060.mp4"}
+{"uid":"3303763101577903869","text":"\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"12062240544883929786.mp4"}
+{"uid":"5528567245249580222","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cups 2- stack the cups 3- Stack the  glass 4- stack the cups 5- Stack the  glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e","video":"9638799662451770891.mp4"}
+{"uid":"17632999625922696634","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the table 2- done\n\u003c/PRED\u003e","video":"822651464276742143.mp4"}
+{"uid":"14261161823237011113","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16571215823876628383.mp4"}
+{"uid":"13244141902750303760","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chair under table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14662848264130699810.mp4"}
+{"uid":"7994654964498715783","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove out 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":"9680809422886408527.mp4"}
+{"uid":"17566825530187664997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2560605356049906629.mp4"}
+{"uid":"10122259962644913141","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cups 2- Stack the  glass 3- stack the cups 4- Stack the  glass 5- stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e","video":"12310910220328977581.mp4"}
+{"uid":"5522515271409618345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10407199495889663658.mp4"}
+{"uid":"10890547016719535878","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15992892879124857362.mp4"}
+{"uid":"13909928187927442027","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: move the stack of cups backwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups 7- Stack the  glass 8- stack the glass 9- stack the glass Q: immediate next step? \u003cPRED\u003eA: move the stack of cups backwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the stack of cups backwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the stack of cups backwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups 7- Stack the  glass 8- stack the glass 9- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- move the stack of cups backwards 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the stack of cups backwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the stack of cups backwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16769092338648307239.mp4"}
+{"uid":"12026174812201059209","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":"10425888570343114872.mp4"}
+{"uid":"8136361677042088368","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9929445276344627800.mp4"}
+{"uid":"12798577315446820758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the can in the plastic tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5411631757385177312.mp4"}
+{"uid":"14126232371405662871","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"3087857489928239835.mp4"}
+{"uid":"1717000288901748063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the small white packet into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4766877458479183946.mp4"}
+{"uid":"5482264004163077002","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1703084970097217863.mp4"}
+{"uid":"1028764508184138266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10231584120557952651.mp4"}
+{"uid":"17461721583621899082","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the coffee cup lids near 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":"3533482965144116051.mp4"}
+{"uid":"8073446880237093132","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange 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":"15072674215014279925.mp4"}
+{"uid":"2679627806908859224","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14187598463613525809.mp4"}
+{"uid":"17328513686043520591","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17224150605853941265.mp4"}
+{"uid":"14590460650880380405","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups Q: immediate next step? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the  glass 2- stack the glass 3- move the stack of cups backwards 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the  glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the  glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9450546233456664649.mp4"}
+{"uid":"11420788879880907700","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15607036810554599167.mp4"}
+{"uid":"14741756949719893415","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the strawberry on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4810358061020377189.mp4"}
+{"uid":"2234519121131775761","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- move the stack of cups backwards 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"17037928992603962344.mp4"}
+{"uid":"16606627861584812529","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":"2794343937397690963.mp4"}
+{"uid":"442544262336025415","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a yellow candy in a paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5939436330416450193.mp4"}
+{"uid":"13200458883059178421","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups 7- Stack the  glass Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups 5- Stack the  glass 6- stack the cups 7- Stack the  glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cups 2- move the stack of cups backwards 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17603213427517825123.mp4"}
+{"uid":"10987146391423444833","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the  glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1681673501852525833.mp4"}
+{"uid":"1913126597549002132","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the  glass 2- stack the cups 3- Stack the  glass 4- stack the glass 5- stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass 4- stack the cups Q: immediate next step? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the  glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the  glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the  glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13031945987473066323.mp4"}
+{"uid":"10348712322249122026","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"16272196025322276410.mp4"}
+{"uid":"2576205879059691470","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1077146082905069054.mp4"}
+{"uid":"7540843014427845874","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fruit 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":"2080033254430531205.mp4"}
+{"uid":"2017386625283270129","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":"12295022453824229262.mp4"}
+{"uid":"16385050239987654816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1032507510000074214.mp4"}
+{"uid":"10612962876365299125","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11684580532313542652.mp4"}
+{"uid":"17144827615312390028","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the glass on other glass 2- stack the glass 3- stack the cups 4- Stack the  glass 5- stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the glass on other glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the glass on other 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 glass on other glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the glass on other glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Put the glass on other glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the glass on other glass\n\u003c/PRED\u003e","video":"13464148618019506413.mp4"}
+{"uid":"738995291917255951","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- Stack the  glass 3- stack the cups 4- Stack the  glass 5- stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the glass 2- stack the glass 3- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"6135134975241563102.mp4"}
+{"uid":"7313509376966332995","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"12288452038979293121.mp4"}
+{"uid":"3505406392835242721","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep two packets from tray onto table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep two packets from tray onto table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- keep two packets from tray onto table 2- keep packet from tray onto table 3- keep packet from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep two packets from tray onto table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table Q: immediate next step? \u003cPRED\u003eA: keep two packets from tray onto table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: keep two packets from tray onto table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep two packets from tray onto table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14239350257655974752.mp4"}
+{"uid":"9283143298921210276","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet on the table 2- keep packet from tray onto table 3- keep packet from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a 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 a packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e","video":"13400116978593713665.mp4"}
+{"uid":"5296513173843577255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the clothe 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":"18146540598217407805.mp4"}
+{"uid":"16390539997948880633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTurn off the lamp Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5655720810500011623.mp4"}
+{"uid":"4683869106796120539","text":"\u003ctask:success:discrete:True\u003e\nkeep two packets from tray onto 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: keep two packets from tray onto table\n\u003c/PRED\u003e","video":"11169669084513609529.mp4"}
+{"uid":"15729809906356092348","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\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","video":"1631683406482501479.mp4"}
+{"uid":"10942119655612372220","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the small 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":"13421948657107677941.mp4"}
+{"uid":"17382337448012089088","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep packet from tray onto 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":"2176798021907206617.mp4"}
+{"uid":"17997992491377228641","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl at the edge 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":"5274482187987664287.mp4"}
+{"uid":"9244383823599144335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14204443207021245431.mp4"}
+{"uid":"15094056867329735387","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- put two packets on the table 2- keep packet from tray onto table 3- keep packet from tray onto table 4- keep packet from tray onto table 5- put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput two packets 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 two packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table Q: immediate next step? \u003cPRED\u003eA: put two packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput two packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: put two packets on the table\n\u003c/PRED\u003e","video":"11485556896427707583.mp4"}
+{"uid":"17121381592530155319","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the packet in the on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: put the packet in the on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the 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 oatmeal packets and place them on counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the on the table 2- keep two packets from tray onto table 3- keep packet from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table\n\u003c/PRED\u003e","video":"9179686165201843061.mp4"}
+{"uid":"7985941509457377591","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the 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 packet in the on the table\n\u003c/PRED\u003e","video":"3308155798353828862.mp4"}
+{"uid":"195049652334707605","text":"\u003ctask:success:discrete:True\u003e\nkeep packet from tray onto 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: keep packet from tray onto table\n\u003c/PRED\u003e","video":"694091519664144163.mp4"}
+{"uid":"2766407233783315649","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":"7081242450283318856.mp4"}
+{"uid":"15224724067512383508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic bottle in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16386063137417320579.mp4"}
+{"uid":"9985712664211316069","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the beige 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":"1571594283979251457.mp4"}
+{"uid":"6712701850773986019","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a 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 oatmeal packets and place them on counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet on the table 2- keep two packets from tray onto table 3- keep packet from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"730259102941710050.mp4"}
+{"uid":"17891812034536902018","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":"9806456533608135866.mp4"}
+{"uid":"6653588606868553626","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10339285636765875090.mp4"}
+{"uid":"9286419149124599746","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- keep packet from tray onto table 2- keep packet from tray onto table 3- keep packet from tray onto table 4- keep packet from tray onto table 5- put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table Q: immediate next step? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep packet from tray onto table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep packet from tray onto table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11871380540437937779.mp4"}
+{"uid":"16477218240451441474","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table 6- keep packet from tray onto table 7- keep packet from tray onto table 8- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table 6- keep packet from tray onto table 7- keep packet from tray onto table 8- put 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: put the packet on the table\n\u003c/PRED\u003e","video":"3205870299741979235.mp4"}
+{"uid":"11727654420212118631","text":"\u003ctask:success:discrete:False\u003e\nput the packet on the Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: put the packet on the\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet on the Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the 2- keep packet from tray onto table 3- keep packet from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table Q: immediate next step? \u003cPRED\u003eA: put the packet on the\n\u003c/PRED\u003e","video":"14540310815686760601.mp4"}
+{"uid":"3332639148239278127","text":"\u003ctask:success:discrete:True\u003e\nkeep packet from tray onto 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: keep packet from tray onto table\n\u003c/PRED\u003e","video":"3099823885368784385.mp4"}
+{"uid":"17273879860031326857","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 2 of plastic butter knifes 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":"9316028455780251780.mp4"}
+{"uid":"6337014647232620693","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table Q: immediate next step? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet on the table 2- keep packet from tray onto table 3- put the packet on the table 4- done\n\u003c/PRED\u003e","video":"17537096596212064050.mp4"}
+{"uid":"8556241757632533150","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packets on the table 2- keep packet from tray onto table 3- keep packet from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packets 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 oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: put the packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table Q: immediate next step? \u003cPRED\u003eA: put the packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15651236952896063538.mp4"}
+{"uid":"13122680258297190879","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table 6- keep packet from tray onto table 7- keep packet from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table 6- keep packet from tray onto table 7- keep packet from tray onto table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e","video":"3233367368381859354.mp4"}
+{"uid":"3811471132938046215","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the 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 packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e","video":"1470014481697273108.mp4"}
+{"uid":"6368894610155991562","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- keep packet from tray onto table 2- keep packet from tray onto table 3- put the 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: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep packet from tray onto table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table Q: immediate next step? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e","video":"5171659623459129698.mp4"}
+{"uid":"16769275516213959161","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a 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":"14686705633456474458.mp4"}
+{"uid":"7489728961496203668","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet on the gripper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet on the gripper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11089787148890003327.mp4"}
+{"uid":"10780720601193990417","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4960764339018716743.mp4"}
+{"uid":"1617973738255907108","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:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \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: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table 6- keep packet from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- put 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table 6- keep packet from tray onto 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","video":"8637740844069491573.mp4"}
+{"uid":"7606316272208905840","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- keep packet from tray onto table 2- keep two packets from tray onto table 3- keep packet from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep packet from tray onto table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e","video":"2835082133757418047.mp4"}
+{"uid":"7284805316722459578","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack up the glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5563967829400069718.mp4"}
+{"uid":"1921363251001442908","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- keep packet from tray onto table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep packet from tray onto table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep packet from tray onto table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 oatmeal packets and place them on counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e","video":"17357361014494217662.mp4"}
+{"uid":"13795814782914838734","text":"\u003ctask:success:discrete:False\u003e\nput 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: put the 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 packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- keep packet from tray onto table 3- put the packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e","video":"12493108156661338889.mp4"}
+{"uid":"6817462227698353972","text":"\u003ctask:success:discrete:False\u003e\nput a packet on the gripper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 a packet on the gripper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table Q: immediate next step? \u003cPRED\u003eA: put a packet on the gripper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: put a packet on the gripper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet on the gripper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet on the gripper 2- keep packet from tray onto table 3- keep packet from tray onto table 4- put the packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet on the gripper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18270112767247012692.mp4"}
+{"uid":"16446371470377531317","text":"\u003ctask:success:discrete:True\u003e\nkeep packet from tray onto 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: keep packet from tray onto table\n\u003c/PRED\u003e","video":"9317108338043274577.mp4"}
+{"uid":"13369570520908767240","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14673266855863206376.mp4"}
+{"uid":"2799643222860322985","text":"\u003ctask:success:discrete:True\u003e\nput two packets 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 two packets on the table\n\u003c/PRED\u003e","video":"15579747707301149033.mp4"}
+{"uid":"11910150392706117654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"9355246316672662410.mp4"}
+{"uid":"4815304053312575570","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table Q: immediate next step? \u003cPRED\u003eA: put the 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 packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e","video":"466887389654619486.mp4"}
+{"uid":"7565254359401843679","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":"10709188789209824935.mp4"}
+{"uid":"6227197540292888026","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the scissors on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13632614291952108965.mp4"}
+{"uid":"14034770920489138874","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop apple into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9083328470373964008.mp4"}
+{"uid":"977090721933631427","text":"\u003ctask:success:discrete:True\u003e\nput a 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 a packet on the table\n\u003c/PRED\u003e","video":"17242494799060820087.mp4"}
+{"uid":"16188581638875713774","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen in the right side cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2487800801793879809.mp4"}
+{"uid":"3839408351729319875","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep packet from ground onto the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table 6- keep packet from tray onto table 7- keep packet from tray onto table Q: immediate next step? \u003cPRED\u003eA: keep packet from ground onto the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep packet from ground onto the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table 6- keep packet from tray onto table 7- keep packet from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- keep packet from ground onto the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: keep packet from ground onto the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep packet from ground onto 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\nkeep packet from ground onto the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13334532736681102082.mp4"}
+{"uid":"3881161826812789503","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- keep packet from tray onto table 2- keep packet from tray onto table 3- keep packet from tray onto table 4- put the packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep packet from tray onto table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table Q: immediate next step? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e","video":"4417368771462687846.mp4"}
+{"uid":"10297580476700820733","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the 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 packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table 6- keep packet from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table 6- keep packet from tray onto table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"10137199076252794244.mp4"}
+{"uid":"7170994054419947952","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table 6- keep packet from tray onto table 7- keep packet from tray onto table 8- keep packet from ground onto 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 oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table 6- keep packet from tray onto table 7- keep packet from tray onto table 8- keep packet from ground onto the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep packet from ground onto the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep packet from ground onto 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":"17146573098961013470.mp4"}
+{"uid":"6021030281313356928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14829239466112250351.mp4"}
+{"uid":"9054220800407373916","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. Q: immediate next step? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table 6- keep packet from tray onto table Q: immediate next step? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep packet from tray onto table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep packet from tray onto table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove oatmeal packets and place them on counter. last 20 steps: 1- put the packet in the on the table 2- keep packet from tray onto table 3- keep two packets from tray onto table 4- keep packet from tray onto table 5- keep packet from tray onto table 6- keep packet from tray onto table Q: next 5 steps? \u003cPRED\u003eA: 1- keep packet from tray onto table 2- put the packet on the table 3- done\n\u003c/PRED\u003e","video":"14553361473211690975.mp4"}
+{"uid":"17178040384826831453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput popcorn 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":"12877960889932796947.mp4"}
+{"uid":"15672307480774569288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the rubiks cube 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":"5685725656330112748.mp4"}
+{"uid":"367828659844964422","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can on the table 2- put can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e","video":"9440438303923408203.mp4"}
+{"uid":"1536240185066608399","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7713909328201842935.mp4"}
+{"uid":"18234262243263661116","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place 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: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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","video":"2777634688714656929.mp4"}
+{"uid":"17974988852611127486","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"17671612030764155149.mp4"}
+{"uid":"4568135717254929524","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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","video":"8105470016704977579.mp4"}
+{"uid":"3263322708741600565","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow object in the top table 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":"16318730254526018814.mp4"}
+{"uid":"17344503871373649926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table from the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15738272049634802433.mp4"}
+{"uid":"14247435969727975682","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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 packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet 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":"9619705491735636917.mp4"}
+{"uid":"11782322561569840737","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"18439965947180956568.mp4"}
+{"uid":"14671659517971495502","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place 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: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pip corn packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e","video":"10482430313300886935.mp4"}
+{"uid":"10007728180895010739","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the 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: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e","video":"18073377308382415587.mp4"}
+{"uid":"8079971715781951105","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"6757594606874070974.mp4"}
+{"uid":"11332492453260664501","text":"\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"4771402553378931521.mp4"}
+{"uid":"3936185541874947849","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":"17759877327424402853.mp4"}
+{"uid":"17560498854122700126","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pip corn packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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","video":"16779902727791222015.mp4"}
+{"uid":"10359710526563158896","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the orange chip bag 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":"3230675862696247067.mp4"}
+{"uid":"3755788632545249527","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place 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: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:discriminative:discrete:False\u003e\nput the yellow 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\u003ctask:success:discrete:False\u003e\nplace 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: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"15431030618377390943.mp4"}
+{"uid":"1878647829423578253","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the table 2- put can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e","video":"5462807989332123195.mp4"}
+{"uid":"7677411341729623370","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the table 2- put can on the table 3- put can on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e","video":"17702446872408203632.mp4"}
+{"uid":"16862635826047860020","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":"3028738452731772993.mp4"}
+{"uid":"10955646702254216945","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":"14724522424672470756.mp4"}
+{"uid":"12324104040933715879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the book horizontally Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15574002041485834874.mp4"}
+{"uid":"7832035945968080921","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"10448432871084056106.mp4"}
+{"uid":"5087739658309862654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6449239552819467558.mp4"}
+{"uid":"14930629789631572704","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place redbull can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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","video":"5262597477069942591.mp4"}
+{"uid":"1405854040218032610","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e","video":"6763183442455615038.mp4"}
+{"uid":"7823257051693345367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the binder clips on organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17648838056303978387.mp4"}
+{"uid":"1777961728243925005","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the keys Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16338385869930941134.mp4"}
+{"uid":"8945460430318463190","text":"\u003ctask:success:discrete:False\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place 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: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 femovplease remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"1790559841270938134.mp4"}
+{"uid":"10229296602429907361","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on the table 3- put packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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 packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet 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":"16530518474062900006.mp4"}
+{"uid":"11845776848133551551","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":"17881370847933642968.mp4"}
+{"uid":"15045263973333434611","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- put can on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"4159873581260672574.mp4"}
+{"uid":"2075182793907972680","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toffee on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17079293828030715025.mp4"}
+{"uid":"15223556351480061877","text":"\u003ctask:success:discrete:False\u003e\nplace 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 4 red bull cans from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e","video":"9222940208092742131.mp4"}
+{"uid":"5957969444680280596","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pip corn packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: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\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place 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: place 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: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e","video":"9591211262626518028.mp4"}
+{"uid":"5225052480590538977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12117721510196279817.mp4"}
+{"uid":"12084630704904445889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5103160338694698517.mp4"}
+{"uid":"6262098836936502767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cloth in the wall hook Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6194795010323417633.mp4"}
+{"uid":"17215354410798170078","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pip corn packet on the table 2- put packet on the table 3- put packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place 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: place the pip corn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"7239757764581287791.mp4"}
+{"uid":"3241493872114892006","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"5559146120340695886.mp4"}
+{"uid":"632283888809544186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"15354015588667349623.mp4"}
+{"uid":"13118479896335225190","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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 packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e","video":"6186756485311296601.mp4"}
+{"uid":"15809824111496959652","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put 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 packet on the table\n\u003c/PRED\u003e","video":"11972715618848362421.mp4"}
+{"uid":"2262816654340181873","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"8317467271836523143.mp4"}
+{"uid":"9419730364985828823","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8737101009374657200.mp4"}
+{"uid":"9640079065094548827","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put 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 packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"4004673541379855662.mp4"}
+{"uid":"11884465621736842872","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17170906974622694315.mp4"}
+{"uid":"14281075626409674786","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- done\n\u003c/PRED\u003e","video":"9318975690565088379.mp4"}
+{"uid":"10348594422839154812","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15267748276210922663.mp4"}
+{"uid":"17131919661770147735","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet 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 packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"13506804869596265025.mp4"}
+{"uid":"5266829874968322295","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2019515484720286430.mp4"}
+{"uid":"1612683792990058155","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow 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":"1522292824481305991.mp4"}
+{"uid":"2690494201213959974","text":"\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"11685654210155353980.mp4"}
+{"uid":"16902124564911413663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the tissue paper 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":"772647486270337458.mp4"}
+{"uid":"6107392521641467132","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"7472470275094570978.mp4"}
+{"uid":"9079630548283650256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3487858619416742327.mp4"}
+{"uid":"15128626673371948335","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the nacho packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 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: place the nacho packet on the table\n\u003c/PRED\u003e","video":"16240184693134335207.mp4"}
+{"uid":"16676809907457825473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1757105792330369198.mp4"}
+{"uid":"11456957548281813962","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue paper 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\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11763915267693392386.mp4"}
+{"uid":"10579493467609252087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the two white packets 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":"12680634441835159926.mp4"}
+{"uid":"5099082011224785207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the berry in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2537562939533464427.mp4"}
+{"uid":"6194506432010044831","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place redbull can on the table 2- put can on the table 3- put can on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table Q: immediate next step? \u003cPRED\u003eA: place redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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","video":"11567418189522615998.mp4"}
+{"uid":"9089104196187999968","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1306482623823700092.mp4"}
+{"uid":"15041777287018051480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pink packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5453840481143766720.mp4"}
+{"uid":"13160234925258959681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a yellow packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"979498841005229720.mp4"}
+{"uid":"14878915783901427089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15000277630389058982.mp4"}
+{"uid":"2260808374151195689","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"3498543351009007138.mp4"}
+{"uid":"12242341616703596543","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"14167597314527937578.mp4"}
+{"uid":"6288479622685534129","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange peel 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":"5679740995688727435.mp4"}
+{"uid":"3909838296629324248","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- done\n\u003c/PRED\u003e","video":"10682214540308479497.mp4"}
+{"uid":"12569632184477422105","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11529503088791543784.mp4"}
+{"uid":"7745288158491962089","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the table 2- put can on the table 3- put can on the table 4- put can on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove 4 red bull cans from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e","video":"4015211846686296817.mp4"}
+{"uid":"10382804565813660544","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"16734666571890579455.mp4"}
+{"uid":"11002933899747836623","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cube 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":"9320221766738972284.mp4"}
+{"uid":"9199931895596902245","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please femovplease remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5758712960464613931.mp4"}
+{"uid":"12805293831221826689","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake 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":"13623824015654030094.mp4"}
+{"uid":"14265254603039643729","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop Pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9516597258593874629.mp4"}
+{"uid":"5589202780264446035","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the peas on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 peas on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table Q: immediate next step? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the peas on the table 2- Put the peas on the table 3- Put the peas on the table 4- Put the peas on the table 5- Put the pea on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e","video":"3578958464312461796.mp4"}
+{"uid":"9777459836464417571","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table Q: immediate next step? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the peas on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the peas on the table 2- Put the peas on the table 3- Put the peas on the table 4- Put the pea on the table 5- Move the bowl backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e","video":"17386556339306207097.mp4"}
+{"uid":"3296059722713424064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the 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":"11443583644599298940.mp4"}
+{"uid":"13740232490618647722","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up can and drop it in the recycle bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the dustbin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can in the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up can and drop it in the recycle bin Q: immediate next step? \u003cPRED\u003eA: Put the can in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up can and drop it in the recycle bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the can in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in the dustbin\n\u003c/PRED\u003e","video":"3840801741586906417.mp4"}
+{"uid":"4441244522581904006","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the middle 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":"13793748034120813514.mp4"}
+{"uid":"9305429516738127401","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the peas 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 peas on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table Q: immediate next step? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the peas on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the peas on the table 2- Put the peas on the table 3- Put the peas on the table 4- Put the peas on the table 5- Put the peas on the table\n\u003c/PRED\u003e","video":"8638355095154043454.mp4"}
+{"uid":"15444887587148887250","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"12733115414664306132.mp4"}
+{"uid":"5865125353061125826","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":"14110367898871323046.mp4"}
+{"uid":"10270107752367128201","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14983473008454030753.mp4"}
+{"uid":"15193082298068260801","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11858244044725357887.mp4"}
+{"uid":"7230586682083899181","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4702869937156038367.mp4"}
+{"uid":"15873932023770952618","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1655522770993385744.mp4"}
+{"uid":"4793078395354153810","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table Q: immediate next step? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the peas on the table 4- Put the peas on the table 5- Put the peas on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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":"5066706467309574426.mp4"}
+{"uid":"13632457459951546107","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the penstand 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":"10285591630035500916.mp4"}
+{"uid":"11860627725542273251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6101323587614930043.mp4"}
+{"uid":"12897998880224538709","text":"\u003ctask:success:discrete:True\u003e\nPut the can in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up can and drop it in the recycle 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 can in the dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up can and drop it in the recycle bin. last 20 steps: 1- Put the can in the dustbin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up can and drop it in the recycle bin. last 20 steps: 1- Put the can in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3526256996559767098.mp4"}
+{"uid":"17281169479676774947","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":"1938062229893581255.mp4"}
+{"uid":"2954656292300771076","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table Q: immediate next step? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table\n\u003c/PRED\u003e","video":"435152082417361967.mp4"}
+{"uid":"15031295495047783522","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the peas on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 peas on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the peas 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 Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table 9- Put the peas on the table 10- Put the peas on the table Q: immediate next step? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table 9- Put the peas on the table 10- Put the peas on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the peas on the table 2- Put the pea on the table 3- Move the bowl backward 4- Put the pea on the table 5- Put the peas on the table\n\u003c/PRED\u003e","video":"6077415788427438474.mp4"}
+{"uid":"2242329051326009887","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the white can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16900878759790259112.mp4"}
+{"uid":"9632221545026843836","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":"9187050046215551477.mp4"}
+{"uid":"15294656940615135467","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet on the counter from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14663093502620905368.mp4"}
+{"uid":"14995065872987316682","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"100191641800931213.mp4"}
+{"uid":"5773694498944088227","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2795887188439099621.mp4"}
+{"uid":"10915366127132790273","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"12304888707370165555.mp4"}
+{"uid":"4902968550537150385","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"6228443465786265530.mp4"}
+{"uid":"18083480579615813110","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork in 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":"18265648506547270049.mp4"}
+{"uid":"16400869108433500485","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the peas on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 peas on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table 9- Put the peas on the table Q: immediate next step? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table 9- Put the peas on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the peas on the table 2- Put the peas on the table 3- Put the pea on the table 4- Move the bowl backward 5- Put the pea on the table\n\u003c/PRED\u003e","video":"7633950172129106033.mp4"}
+{"uid":"7259926012781528263","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the peas on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table Q: immediate next step? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e","video":"3085319740077249131.mp4"}
+{"uid":"16685866318379793309","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6797050895431206699.mp4"}
+{"uid":"3960066643512426730","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table Q: immediate next step? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the peas on the table 5- Put the peas on the table\n\u003c/PRED\u003e","video":"9374033398633608611.mp4"}
+{"uid":"12647198325473639213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16739022526930104160.mp4"}
+{"uid":"835129778131428873","text":"\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"220530365335117247.mp4"}
+{"uid":"856745071113912435","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the toffee in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17119754499576183226.mp4"}
+{"uid":"3279253352697390223","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the strawberry 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 Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e","video":"12985211802646702900.mp4"}
+{"uid":"2991242357228783467","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray 9- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray 9- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"18079172930823193338.mp4"}
+{"uid":"14926525842531007551","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":"9638836016713284335.mp4"}
+{"uid":"4909538104372979656","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pea on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table 9- Put the peas on the table 10- Put the peas on the table 11- Put the peas on the table 12- Put the pea on the table 13- Move the bowl backward 14- Put the pea on the table 15- Put the peas on the table Q: immediate next step? \u003cPRED\u003eA: Put the pea on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pea on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pea on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pea 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 Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table 9- Put the peas on the table 10- Put the peas on the table 11- Put the peas on the table 12- Put the pea on the table 13- Move the bowl backward 14- Put the pea on the table 15- Put the peas on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pea on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pea on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17825424293970541330.mp4"}
+{"uid":"13326701748517299010","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table 9- Put the peas on the table 10- Put the peas on the table 11- Put the peas on the table Q: immediate next step? \u003cPRED\u003eA: Put the pea on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pea 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 pea on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 pea on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table 9- Put the peas on the table 10- Put the peas on the table 11- Put the peas on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pea on the table 2- Move the bowl backward 3- Put the pea on the table 4- Put the peas on the table 5- Put the pea on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pea on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pea on the table\n\u003c/PRED\u003e","video":"680523450348891347.mp4"}
+{"uid":"13369810051996303658","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"6990295855634812904.mp4"}
+{"uid":"13836310875882148543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace an orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14241580620074339870.mp4"}
+{"uid":"4155660776233414386","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"11393446838076956178.mp4"}
+{"uid":"12841582927851813173","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2235279495004737777.mp4"}
+{"uid":"2325245876194448972","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11106666129765581834.mp4"}
+{"uid":"564398541314142967","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"5103877264462494121.mp4"}
+{"uid":"3548617305699687562","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":"351494975662620064.mp4"}
+{"uid":"7422196941788071912","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":"11791224854908769509.mp4"}
+{"uid":"10728884041345224243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10802519689139762021.mp4"}
+{"uid":"8348372017579252829","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the bowl 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the bowl backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the bowl backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the bowl 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: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table 9- Put the peas on the table 10- Put the peas on the table 11- Put the peas on the table 12- Put the pea on the table Q: immediate next step? \u003cPRED\u003eA: Move the bowl backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Move the bowl backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table 9- Put the peas on the table 10- Put the peas on the table 11- Put the peas on the table 12- Put the pea on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the bowl backward 2- Put the pea on the table 3- Put the peas on the table 4- Put the pea on the table 5- done\n\u003c/PRED\u003e","video":"5856453584293387161.mp4"}
+{"uid":"5927735381607517584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17499858771345901144.mp4"}
+{"uid":"3431070908978108531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the 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":"10988168974375242680.mp4"}
+{"uid":"17214657784724047619","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"660011356489882515.mp4"}
+{"uid":"7789345663997154329","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the peas on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 peas on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the peas 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 Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table 9- Put the peas on the table 10- Put the peas on the table 11- Put the peas on the table 12- Put the pea on the table 13- Move the bowl backward 14- Put the pea on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the peas on the table 2- Put the pea on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table 9- Put the peas on the table 10- Put the peas on the table 11- Put the peas on the table 12- Put the pea on the table 13- Move the bowl backward 14- Put the pea on the table Q: immediate next step? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the peas on the table\n\u003c/PRED\u003e","video":"10332436219417572631.mp4"}
+{"uid":"13928473009094582910","text":"\u003ctask:success:discrete:True\u003e\nput packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray 9- put packet in the tray 10- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the tray 2- put packet in the tray 3- put packet in the tray 4- put packet in the tray 5- put packet in the tray 6- put packet in the tray 7- put packet in the tray 8- put packet in the tray 9- put packet in the tray 10- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"12731977600592641557.mp4"}
+{"uid":"7535472945314883491","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pea on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pea on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pea on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table 9- Put the peas on the table 10- Put the peas on the table 11- Put the peas on the table 12- Put the pea on the table 13- Move the bowl backward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pea on the table 2- Put the peas on the table 3- Put the pea on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table 6- Put the strawberry on the table 7- Put the peas on the table 8- Put the peas on the table 9- Put the peas on the table 10- Put the peas on the table 11- Put the peas on the table 12- Put the pea on the table 13- Move the bowl backward Q: immediate next step? \u003cPRED\u003eA: Put the pea on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pea on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3404693645678332252.mp4"}
+{"uid":"10639106406860524169","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table Q: immediate next step? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the Peas and strawberries from the bowl. last 20 steps: 1- Put the strawberry on the table 2- Put the strawberry on the table 3- Put the strawberry on the table 4- Put the strawberry on the table 5- Put the strawberry on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the strawberry on the table 2- Put the peas on the table 3- Put the peas on the table 4- Put the peas on the table 5- Put the peas on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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 Peas and strawberries from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the strawberry on the table\n\u003c/PRED\u003e","video":"16434417548513643770.mp4"}
+{"uid":"817397294843320947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"15593072037649516975.mp4"}
+{"uid":"1765105673427036359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the yellow marker in the right 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":"17793671905297583592.mp4"}
+{"uid":"8578254352914447923","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the box 2- drop the white packet in a box 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton\n\u003c/PRED\u003e","video":"3347663102413860517.mp4"}
+{"uid":"9767662310552345179","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet into carton 2- put a packet into carton 3- put the packet in the box 4- put a packet into carton 5- drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet into carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 all the chips back to the box. last 20 steps: 1- put a packet into carton Q: immediate next step? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e","video":"9127635346811710217.mp4"}
+{"uid":"4212889256843174652","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tong on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3432224442585707704.mp4"}
+{"uid":"1694702125142233405","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton Q: next 5 steps? \u003cPRED\u003eA: 1- drop the white packet in a box 2- put a packet into carton 3- put the packet in the box 4- put a packet into carton 5- drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton Q: immediate next step? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the white packet in a box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the white packet in a box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1820407153952471141.mp4"}
+{"uid":"16971821637622091631","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet into carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton 8- put the packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet into carton 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton 8- put the packet in the box Q: immediate next step? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e","video":"15381778022506109055.mp4"}
+{"uid":"8024766845362072767","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":"13684838590912237422.mp4"}
+{"uid":"14367986065471294802","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the coat rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"800702284406917335.mp4"}
+{"uid":"1099429717784969111","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e","video":"9800707660582392336.mp4"}
+{"uid":"3849827632858063843","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the box 2- put a packet into carton 3- put the packet in the box 4- put a packet into carton 5- drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e","video":"13280752430451292189.mp4"}
+{"uid":"13104819394083164970","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet into carton 2- put the packet in the box 3- put a packet into carton 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a packet into carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 packet into carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet into carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton Q: immediate next step? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e","video":"4746895383440465571.mp4"}
+{"uid":"10723390138309475713","text":"\u003ctask:success:discrete:False\u003e\nput a packet into carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box Q: immediate next step? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet into carton 2- drop the white packet in a box 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet into carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 packet into carton\n\u003c/PRED\u003e","video":"6364984147571603944.mp4"}
+{"uid":"6596706506755779533","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the brown tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12594140061058020416.mp4"}
+{"uid":"13976948658630238348","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet into carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12686866322076254737.mp4"}
+{"uid":"12171151443058700516","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the blue packet in a box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the blue packet in a 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":"6325483643690963771.mp4"}
+{"uid":"4583815711562014576","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton Q: immediate next step? \u003cPRED\u003eA: drop the blue packet in a box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue packet in a box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue packet in a box 2- put a packet into carton 3- drop the white packet in a box 4- put a packet into carton 5- put the packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue packet in a box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue packet in a box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue packet in a box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: drop the blue packet in a box\n\u003c/PRED\u003e","video":"7681476021460847712.mp4"}
+{"uid":"12379946864291141977","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet into carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton 8- put the packet in the box 9- put a packet into carton Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton 8- put the packet in the box 9- put a packet into carton Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2681579752434170779.mp4"}
+{"uid":"16329630148345491056","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet into carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6279126712612125407.mp4"}
+{"uid":"5517495867130481518","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue packet in a box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: drop the blue packet in a box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue packet in a box 2- put the packet in the box 3- put a packet into carton 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue packet in a box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue packet in a box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue packet in a box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box Q: immediate next step? \u003cPRED\u003eA: drop the blue packet in a box\n\u003c/PRED\u003e","video":"12978819846126805940.mp4"}
+{"uid":"6253482698989973331","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e","video":"10477009506815512943.mp4"}
+{"uid":"18429233236994201350","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15723373145679881672.mp4"}
+{"uid":"13479537209475903254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the Lid on the Holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11422751309034819045.mp4"}
+{"uid":"6738436852580373610","text":"\u003ctask:success:discrete:True\u003e\ndrop the blue packet in a box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the blue packet in a box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton 8- put the packet in the box 9- drop the blue packet in a box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton 8- put the packet in the box 9- drop the blue packet in a box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"6801209624632553006.mp4"}
+{"uid":"13824150458775017635","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton 8- put the packet in the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton 8- put the packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e","video":"17314216442433336090.mp4"}
+{"uid":"14407801154206819640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"416180578543602385.mp4"}
+{"uid":"886356287632050841","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the white packet in a box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the white packet in a box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box Q: immediate next step? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the white packet in a box 2- drop the white packet in a box 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton\n\u003c/PRED\u003e","video":"10402272240021061039.mp4"}
+{"uid":"11550466203946503139","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pink 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":"8051797232704696005.mp4"}
+{"uid":"13247936114362899228","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton 8- put the packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the blue packet in a box 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the blue packet in a box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: drop the blue packet in a box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the blue packet in a box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the blue packet in a box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the blue packet in a box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton 8- put the packet in the box Q: immediate next step? \u003cPRED\u003eA: drop the blue packet in a box\n\u003c/PRED\u003e","video":"10849004492919031330.mp4"}
+{"uid":"9997235919744007849","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the white packet in a box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the white packet in a box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton Q: immediate next step? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton Q: next 5 steps? \u003cPRED\u003eA: 1- drop the white packet in a box 2- done\n\u003c/PRED\u003e","video":"17543706346103461733.mp4"}
+{"uid":"2546454808118121528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6657266823953131756.mp4"}
+{"uid":"147745700769222096","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the box 2- put the packet in the box 3- put a packet into carton 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e","video":"8985167825757205263.mp4"}
+{"uid":"3506481305316762685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11422982495066318156.mp4"}
+{"uid":"13979565300236325296","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the pen 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":"11983285204155666032.mp4"}
+{"uid":"11558960696123310356","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the tray to edge 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":"11679818437557129403.mp4"}
+{"uid":"17300524749599587384","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton Q: immediate next step? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet into carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 packet into carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet into carton 2- put the packet in the box 3- put a packet into carton 4- drop the white packet in a box 5- put a packet into carton\n\u003c/PRED\u003e","video":"14841260559444640214.mp4"}
+{"uid":"6030254260249624710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"6343138283001064507.mp4"}
+{"uid":"5069433205562975756","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull 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":"3305397706219682722.mp4"}
+{"uid":"11923993919389209515","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRotate the bowl upside down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1098416393553064939.mp4"}
+{"uid":"10046354898652829161","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":"12212371920095819845.mp4"}
+{"uid":"13287227423433759224","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the box 2- put a packet into carton 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e","video":"18304786306713716900.mp4"}
+{"uid":"14653288282256917621","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the box 2- put a packet into carton 3- put the packet in the box 4- put a packet into carton 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e","video":"3427908842772478764.mp4"}
+{"uid":"13986496918527663185","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the blue packet in a box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the blue packet in a 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":"9108339689277345955.mp4"}
+{"uid":"1827011517779500262","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton Q: next 5 steps? \u003cPRED\u003eA: 1- drop the white packet in a box 2- put the packet in the box 3- put a packet into carton 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton Q: immediate next step? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the white packet in a box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e","video":"11988313604363070111.mp4"}
+{"uid":"827846077672557046","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":"5017794928573777343.mp4"}
+{"uid":"18265644669364374656","text":"\u003ctask:success:discrete:True\u003e\ndrop the white packet in a box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the white packet in a box\n\u003c/PRED\u003e","video":"594303658732426137.mp4"}
+{"uid":"17631225994376376604","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet into carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15656312703088384545.mp4"}
+{"uid":"2174025730225390121","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the box 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton\n\u003c/PRED\u003e","video":"13661321649554767469.mp4"}
+{"uid":"15140205425184610844","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton Q: immediate next step? \u003cPRED\u003eA: put the packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the box 2- put a packet into carton 3- drop the white packet in a box 4- put a packet into carton 5- put the packet in the box\n\u003c/PRED\u003e","video":"17035717079712483669.mp4"}
+{"uid":"2120717481673721094","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":"9230878032846162589.mp4"}
+{"uid":"3350311063926190351","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack plate on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2970629989807089894.mp4"}
+{"uid":"6568416564809642494","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet into carton 2- put a packet into carton 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a packet into carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 packet into carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 all the chips back to the box Q: immediate next step? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the chips back to the box. last 20 steps: 1- put a packet into carton 2- put a packet into carton 3- put a packet into carton 4- put the packet in the box 5- put a packet into carton 6- drop the white packet in a box 7- put a packet into carton Q: immediate next step? \u003cPRED\u003eA: put a packet into carton\n\u003c/PRED\u003e","video":"11993513473216248423.mp4"}
+{"uid":"667485771932325079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9698172788187807731.mp4"}
+{"uid":"10105636592159726076","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packets 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":"6236912914963807139.mp4"}
+{"uid":"3983013568063358991","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":"8618931903156275317.mp4"}
+{"uid":"2627358790655317040","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":"3134662122107677889.mp4"}
+{"uid":"1951501030799668443","text":"\u003ctask:success:discrete:True\u003e\nput the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e","video":"10066694735907684463.mp4"}
+{"uid":"16277715416674494463","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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","video":"9944749916823658029.mp4"}
+{"uid":"18047162351567400589","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":"1615803688222760466.mp4"}
+{"uid":"7437651136451571786","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put the packet on the table 3- put the packet on the table 4- place the small sachet inside the drawer tray 5- close 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":"17324207436398183485.mp4"}
+{"uid":"18360008969620848303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper cups 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":"2587990808815421862.mp4"}
+{"uid":"4116475873362134930","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table 4- place the small sachet inside the drawer tray Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table 4- place the small sachet inside the drawer tray Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"16867262790483607963.mp4"}
+{"uid":"7767286130652768494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18016879981222813136.mp4"}
+{"uid":"8224251890603097213","text":"\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"15823543871860049556.mp4"}
+{"uid":"13706209713862636412","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table 3- open the tissue packet cap 4- pick up tissue 5- clean the table 6- close the tissue packet cap 7- pick up tissue Q: next 5 steps? \u003cPRED\u003eA: 1- leave the room 2- put tissue in the dust bin 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean? Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table 3- open the tissue packet cap 4- pick up tissue 5- clean the table 6- close the tissue packet cap 7- pick up tissue Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e","video":"14483384570962660998.mp4"}
+{"uid":"18160896655915320496","text":"\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"7116197272445604967.mp4"}
+{"uid":"9287996897802467137","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the small sachet inside the drawer tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \u003cPRED\u003eA: place the small sachet inside the drawer tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the small sachet inside the drawer 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 small sachet inside the drawer tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: place the small sachet inside the drawer tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the small sachet inside the drawer tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the small sachet inside the drawer tray 2- close the drawer 3- done\n\u003c/PRED\u003e","video":"15638186758535486908.mp4"}
+{"uid":"12508915479896459261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9026299716170081321.mp4"}
+{"uid":"5879896939445186344","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a gray toy in left 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":"10135080253209257779.mp4"}
+{"uid":"12454226423535580258","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet on the table 2- place the small sachet inside the drawer tray 3- close the drawer 4- done\n\u003c/PRED\u003e","video":"15308902704689636628.mp4"}
+{"uid":"4785124829061162613","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the packet on the table 3- place the small sachet inside the drawer tray 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"3661251856134104380.mp4"}
+{"uid":"14944784132064745683","text":"\u003ctask:success:discrete:True\u003e\nleave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e","video":"16561253394161269137.mp4"}
+{"uid":"10938034548303555208","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: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: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- place the small sachet inside the drawer tray 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put 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:planning:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \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","video":"1553093650377197643.mp4"}
+{"uid":"12747760177669258848","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\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","video":"9098849319484289382.mp4"}
+{"uid":"16047802368499905877","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace chair under 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":"9207730251958989308.mp4"}
+{"uid":"5994740239210114178","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2396862640472143503.mp4"}
+{"uid":"5450057065097293675","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean? Q: immediate next step? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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:discriminative:discrete:True\u003e\npick up 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: pick up tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table 3- open the tissue packet cap 4- pick up tissue 5- clean the table 6- close the tissue packet cap Q: immediate next step? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table 3- open the tissue packet cap 4- pick up tissue 5- clean the table 6- close the tissue packet cap Q: next 5 steps? \u003cPRED\u003eA: 1- pick up tissue 2- leave the room 3- put tissue in the dust bin 4- done\n\u003c/PRED\u003e","video":"14542028092889458992.mp4"}
+{"uid":"9435328406343126453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cell in the white cell 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":"10442879129241572444.mp4"}
+{"uid":"8700781359504972968","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\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","video":"6776978113788867555.mp4"}
+{"uid":"16308550215132382984","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":"17667856356795123651.mp4"}
+{"uid":"4244741967703292184","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean? Q: immediate next step? \u003cPRED\u003eA: put tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue in the dust bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table 3- open the tissue packet cap 4- pick up tissue 5- clean the table 6- close the tissue packet cap 7- pick up tissue 8- leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue in the dust bin 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue in the dust 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 tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table 3- open the tissue packet cap 4- pick up tissue 5- clean the table 6- close the tissue packet cap 7- pick up tissue 8- leave the room Q: immediate next step? \u003cPRED\u003eA: put tissue in the dust bin\n\u003c/PRED\u003e","video":"2045286106946376806.mp4"}
+{"uid":"1629513700230031276","text":"\u003ctask:success:discrete:False\u003e\nopen the tissue packet cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean? Q: immediate next step? \u003cPRED\u003eA: open the tissue packet cap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the tissue packet cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table Q: next 5 steps? \u003cPRED\u003eA: 1- open the tissue packet cap 2- pick up tissue 3- clean the table 4- close the tissue packet cap 5- pick up tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table Q: immediate next step? \u003cPRED\u003eA: open the tissue packet cap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the tissue packet cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the tissue packet cap\n\u003c/PRED\u003e","video":"4902768501936119491.mp4"}
+{"uid":"12421431542482341957","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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","video":"2699989106954208136.mp4"}
+{"uid":"11071869112265195076","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: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close 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: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table 4- place the small sachet inside the drawer tray 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table 4- place the small sachet inside the drawer tray Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"7981538368408508215.mp4"}
+{"uid":"10006166517468844098","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- place the small sachet inside the drawer tray 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 packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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","video":"3941920769164603545.mp4"}
+{"uid":"10270431936671674928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up sugar packets 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":"17133469475787050939.mp4"}
+{"uid":"18010161046093946166","text":"\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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"8024759948751192153.mp4"}
+{"uid":"14904483602691616680","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":"11236666894070167220.mp4"}
+{"uid":"11655114113825453026","text":"\u003ctask:success:discrete:True\u003e\nput the orange 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 orange packet on the table\n\u003c/PRED\u003e","video":"3923680693134663889.mp4"}
+{"uid":"1695422007409243513","text":"\u003ctask:success:discrete:True\u003e\nplace the small sachet inside the drawer 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 small sachet inside the drawer tray\n\u003c/PRED\u003e","video":"6488760808632866912.mp4"}
+{"uid":"4920781388845304702","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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:discriminative:discrete:True\u003e\npick up tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table 3- open the tissue packet cap Q: immediate next step? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean? Q: immediate next step? \u003cPRED\u003eA: pick up tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table 3- open the tissue packet cap Q: next 5 steps? \u003cPRED\u003eA: 1- pick up tissue 2- clean the table 3- close the tissue packet cap 4- pick up tissue 5- leave the room\n\u003c/PRED\u003e","video":"4616348136201423862.mp4"}
+{"uid":"5194402085467248296","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the green glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11532031617924890510.mp4"}
+{"uid":"14379231693753350894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"13854796937893511175.mp4"}
+{"uid":"5907223464697315556","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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:planning:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean? Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- place chair under table 3- open the tissue packet cap 4- pick up tissue 5- clean the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e","video":"15871587874351957074.mp4"}
+{"uid":"2205608328051119279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fruit 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":"8057395153147769543.mp4"}
+{"uid":"6409189708209485831","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace chair under table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 chair under table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace chair under table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean? Q: immediate next step? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- place chair under table 2- open the tissue packet cap 3- pick up tissue 4- clean the table 5- close the tissue packet cap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door Q: immediate next step? \u003cPRED\u003eA: place chair under table\n\u003c/PRED\u003e","video":"10426186898535782358.mp4"}
+{"uid":"16365088071979584302","text":"\u003ctask:success:discrete:False\u003e\nput the candy in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \u003cPRED\u003eA: put the candy in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the tray 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18262308974705617243.mp4"}
+{"uid":"7082627575950829682","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky pad into the transparent 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":"1375206146786265595.mp4"}
+{"uid":"1905113129756775269","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plates Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6872472202228358874.mp4"}
+{"uid":"341933306105789144","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14988059640481024503.mp4"}
+{"uid":"3967276300060895483","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"3660346589780336139.mp4"}
+{"uid":"11569777109748927709","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table 4- place the small sachet inside the drawer tray 5- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table 4- place the small sachet inside the drawer tray 5- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17184818155410572530.mp4"}
+{"uid":"336380687776407863","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the red candy 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \u003cPRED\u003eA: pick up the red candy\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the red candy\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the red candy\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the red 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: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: pick up the red candy\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the red candy Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2589257210759996509.mp4"}
+{"uid":"8984530521677409093","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5334096950434395540.mp4"}
+{"uid":"4489981076944892447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knifes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13821507771180112765.mp4"}
+{"uid":"9683973761300205873","text":"\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: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the 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: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put the packet on the table 3- put the packet on the table 4- place the small sachet inside the drawer tray 5- close the drawer\n\u003c/PRED\u003e","video":"6231202332117438774.mp4"}
+{"uid":"3288548879750059251","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the white packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"367714206999397360.mp4"}
+{"uid":"17449188486669597606","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table 3- open the tissue packet cap 4- pick up tissue 5- clean the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the tissue packet cap 2- pick up tissue 3- leave the room 4- put tissue in the dust bin 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the tissue packet cap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the tissue packet cap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the tissue packet cap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean? Q: immediate next step? \u003cPRED\u003eA: close the tissue packet cap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table 3- open the tissue packet cap 4- pick up tissue 5- clean the table Q: immediate next step? \u003cPRED\u003eA: close the tissue packet cap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the tissue packet cap\n\u003c/PRED\u003e","video":"9418421073842310765.mp4"}
+{"uid":"10800067860239302168","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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table 4- place the small sachet inside the drawer tray 5- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table 4- place the small sachet inside the drawer tray 5- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11352168385471386769.mp4"}
+{"uid":"716455775389904532","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: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer Q: immediate next step? \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: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: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet on the table 2- put the packet on the table 3- place the small sachet inside the drawer tray 4- close the drawer 5- 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: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"6664771089599134002.mp4"}
+{"uid":"7406074937040741279","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put the packet on the table 3- put the packet on the table 4- place the small sachet inside the drawer tray 5- close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"13453132398656143606.mp4"}
+{"uid":"6638308822717588054","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace coke can in fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5604717991552376867.mp4"}
+{"uid":"11662867295886586028","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":"18154858139693770411.mp4"}
+{"uid":"2137862615352827097","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red candy in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the red candy 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":"5054800590560763293.mp4"}
+{"uid":"3965695463758733708","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean 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":"6490140793738496096.mp4"}
+{"uid":"8185285255008384561","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close 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:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table 4- place the small sachet inside the drawer tray Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table 4- place the small sachet inside the drawer tray 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"3048528078013312678.mp4"}
+{"uid":"8336740595084119638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brush in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15192147900060832777.mp4"}
+{"uid":"6449714007900700082","text":"\u003ctask:success:discrete:False\u003e\nclean 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: clean the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table 3- open the tissue packet cap 4- pick up tissue Q: next 5 steps? \u003cPRED\u003eA: 1- clean the table 2- close the tissue packet cap 3- pick up tissue 4- leave the room 5- put tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table 3- open the tissue packet cap 4- pick up tissue Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean? Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e","video":"8554464506472676529.mp4"}
+{"uid":"17928680058612141597","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table 4- place the small sachet inside the drawer tray 5- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table 4- place the small sachet inside the drawer tray 5- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"3905985055724699757.mp4"}
+{"uid":"9775284780781424308","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPress the button of water purifier Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9939369940205541364.mp4"}
+{"uid":"15395240354190355630","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the red candy in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red candy 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: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the red candy in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \u003cPRED\u003eA: put the red candy in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red candy in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red candy 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: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer 2- put the packet on the table 3- put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the red candy in the drawer 2- close the drawer 3- done\n\u003c/PRED\u003e","video":"10865383971395334620.mp4"}
+{"uid":"5030470758978504808","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack 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":"5290204639929914255.mp4"}
+{"uid":"5270232576162504637","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. Q: immediate next step? \u003cPRED\u003eA: put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the drawer and take two bags of chips and put it on the counter. Put the candy bar back and close the drawer. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet on the table 2- put the packet on the table 3- place the small sachet inside the drawer tray 4- close the drawer 5- done\n\u003c/PRED\u003e","video":"11665839081105966383.mp4"}
+{"uid":"16288348261866230402","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissue in the dust bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table 3- open the tissue packet cap 4- pick up tissue 5- clean the table 6- close the tissue packet cap 7- pick up tissue 8- leave the room 9- put tissue in the dust bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tissue in the dust 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: Can you push in the chairs in the Phone room IC8 and wipe the table clean?. last 20 steps: 1- open the door 2- place chair under table 3- open the tissue packet cap 4- pick up tissue 5- clean the table 6- close the tissue packet cap 7- pick up tissue 8- leave the room 9- put tissue in the dust bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6890248612920671272.mp4"}
+{"uid":"6498623533520290844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop orange into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8220078452625482963.mp4"}
+{"uid":"12796094820753152070","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar 8- put a scoop pista in the paper bowl Q: immediate next step? \u003cPRED\u003eA: take out a scoop of pista from the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar 8- put a scoop pista in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- take out a scoop of pista from the jar 2- put the scooper in the black holder 3- put the lid on the jar 4- take out the plastic bowl from the room 5- put the plastic bowl on the table in the left side room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake out a scoop of pista from the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take out a scoop of pista from the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please Q: immediate next step? \u003cPRED\u003eA: take out a scoop of pista from the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take out a scoop of pista from the jar\n\u003c/PRED\u003e","video":"5045153535248741983.mp4"}
+{"uid":"3242827144692794052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace instant oatmeal pack 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":"15252845915354739992.mp4"}
+{"uid":"208065884254298150","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please Q: immediate next step? \u003cPRED\u003eA: put a scoop pista in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a scoop pista 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 a scoop pista in the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a scoop pista in the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar 8- put a scoop pista in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put a scoop pista in the paper bowl 2- put the scooper in the black holder 3- put the lid on the jar 4- take out the plastic bowl from the room 5- put the plastic bowl on the table in the left side room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar 8- put a scoop pista in the paper bowl Q: immediate next step? \u003cPRED\u003eA: put a scoop pista in the paper bowl\n\u003c/PRED\u003e","video":"2242063063679295480.mp4"}
+{"uid":"18276801556857899618","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar 8- put a scoop pista in the paper bowl 9- take out a scoop of pista from the jar 10- put the scooper in the black holder 11- put the lid on the jar 12- take out the plastic bowl from the room 13- put the plastic bowl on the table in the left side room Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar 8- put a scoop pista in the paper bowl 9- take out a scoop of pista from the jar 10- put the scooper in the black holder 11- put the lid on the jar 12- take out the plastic bowl from the room 13- put the plastic bowl on the table in the left side room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic bowl on the table in the left side room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic bowl on the table in the left side 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":"2139548334227342169.mp4"}
+{"uid":"4158026955285257226","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":"15812896497668332426.mp4"}
+{"uid":"12948494235299591331","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please Q: immediate next step? \u003cPRED\u003eA: put a scoop pista in the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put a scoop pista in the paper bowl 2- take out a scoop of pista from the jar 3- put a scoop pista in the paper bowl 4- take out a scoop of pista from the jar 5- put the scooper in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a scoop pista in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a scoop pista in the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar Q: immediate next step? \u003cPRED\u003eA: put a scoop pista in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a scoop pista 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 a scoop pista in the paper bowl\n\u003c/PRED\u003e","video":"1652957294219382254.mp4"}
+{"uid":"3725687942278972522","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":"17611563441415498222.mp4"}
+{"uid":"6070552201336936788","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a scoop pista in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a scoop pista in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the scooper in the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar 8- put a scoop pista in the paper bowl 9- take out a scoop of pista from the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the scooper in the black holder 2- put the lid on the jar 3- take out the plastic bowl from the room 4- put the plastic bowl on the table in the left side room 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the scooper in the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar 8- put a scoop pista in the paper bowl 9- take out a scoop of pista from the jar Q: immediate next step? \u003cPRED\u003eA: put the scooper in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the scooper in the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please Q: immediate next step? \u003cPRED\u003eA: put the scooper in the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the scooper in the black holder\n\u003c/PRED\u003e","video":"7956560473936218502.mp4"}
+{"uid":"1422543094978603783","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take out a scoop of pista from the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder Q: next 5 steps? \u003cPRED\u003eA: 1- take out a scoop of pista from the jar 2- put a scoop pista in the paper bowl 3- take out a scoop of pista from the jar 4- put a scoop pista in the paper bowl 5- take out a scoop of pista from the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take out a scoop of pista from the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake out a scoop of pista from the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake out a scoop of pista from the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please Q: immediate next step? \u003cPRED\u003eA: take out a scoop of pista from the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder Q: immediate next step? \u003cPRED\u003eA: take out a scoop of pista from the jar\n\u003c/PRED\u003e","video":"4775438491590355791.mp4"}
+{"uid":"4612762915098600611","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper bag 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":"3426787672434698984.mp4"}
+{"uid":"5531325177601317777","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6251507467557976221.mp4"}
+{"uid":"2944572031895730980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14691991624804088224.mp4"}
+{"uid":"2385331191351900970","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the lid of the jar on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please Q: immediate next step? \u003cPRED\u003eA: put the lid of the jar on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the lid of the jar on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar Q: immediate next step? \u003cPRED\u003eA: put the lid of the jar on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\npick the blue pen form the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 lid of the jar on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the lid of the jar 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: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the lid of the jar on the table 2- take out a scooper from the holder 3- take out a scoop of pista from the jar 4- put a scoop pista in the paper bowl 5- take out a scoop of pista from the jar\n\u003c/PRED\u003e","video":"14968331414096210774.mp4"}
+{"uid":"12303808432897508677","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pen in the stationery 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":"8341561437763965168.mp4"}
+{"uid":"14945501889673747069","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar 8- put a scoop pista in the paper bowl 9- take out a scoop of pista from the jar 10- put the scooper in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the lid on the jar 2- take out the plastic bowl from the room 3- put the plastic bowl on the table in the left side room 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the lid on the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please Q: immediate next step? \u003cPRED\u003eA: put the lid on the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the lid on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the lid on the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar 8- put a scoop pista in the paper bowl 9- take out a scoop of pista from the jar 10- put the scooper in the black holder Q: immediate next step? \u003cPRED\u003eA: put the lid on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17489052459931302226.mp4"}
+{"uid":"8313111068570636495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the green brush 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":"15083381542580181683.mp4"}
+{"uid":"13751830243470084820","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take out a scoop of pista from the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- take out a scoop of pista from the jar 2- put a scoop pista in the paper bowl 3- take out a scoop of pista from the jar 4- put the scooper in the black holder 5- put the lid on the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take out a scoop of pista from the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake out a scoop of pista from the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please Q: immediate next step? \u003cPRED\u003eA: take out a scoop of pista from the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl Q: immediate next step? \u003cPRED\u003eA: take out a scoop of pista from the jar\n\u003c/PRED\u003e","video":"11319209923790633209.mp4"}
+{"uid":"18272384648184464842","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack a paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack a 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":"17366081115625544275.mp4"}
+{"uid":"12510223392037147762","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please Q: immediate next step? \u003cPRED\u003eA: unstack a paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack a paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack a paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack a paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack a 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: unstack a paper bowl\n\u003c/PRED\u003e","video":"16070349520970771471.mp4"}
+{"uid":"2033712333071453463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the forks in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2051851227253471697.mp4"}
+{"uid":"13122408442597338678","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":"6583191391654812748.mp4"}
+{"uid":"11900826234958479162","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please Q: immediate next step? \u003cPRED\u003eA: take out the plastic bowl from the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar 8- put a scoop pista in the paper bowl 9- take out a scoop of pista from the jar 10- put the scooper in the black holder 11- put the lid on the jar Q: next 5 steps? \u003cPRED\u003eA: 1- take out the plastic bowl from the room 2- put the plastic bowl on the table in the left side room 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the lid on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake out the plastic bowl from the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take out the plastic bowl from the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take out the plastic bowl from the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar 8- put a scoop pista in the paper bowl 9- take out a scoop of pista from the jar 10- put the scooper in the black holder 11- put the lid on the jar Q: immediate next step? \u003cPRED\u003eA: take out the plastic bowl from the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake out the plastic bowl from the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14852045361375295889.mp4"}
+{"uid":"6364057591978663949","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take out the plastic bowl from the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntake out the plastic bowl from the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3270733297707280713.mp4"}
+{"uid":"2595939077043791849","text":"\u003ctask:success:discrete:True\u003e\ntake out a scoop of pista from the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take out a scoop of pista from the jar\n\u003c/PRED\u003e","video":"16946104572385988367.mp4"}
+{"uid":"2925566777143271951","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack plate on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13295929488858781894.mp4"}
+{"uid":"3954134110751499922","text":"\u003ctask:success:discrete:False\u003e\nput the plastic bowl on the table in the left side 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\nput the plastic bowl on the table in the left side 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: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please Q: immediate next step? \u003cPRED\u003eA: put the plastic bowl on the table in the left side room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic bowl on the table in the left side room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar 8- put a scoop pista in the paper bowl 9- take out a scoop of pista from the jar 10- put the scooper in the black holder 11- put the lid on the jar 12- take out the plastic bowl from the room Q: immediate next step? \u003cPRED\u003eA: put the plastic bowl on the table in the left side room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar 8- put a scoop pista in the paper bowl 9- take out a scoop of pista from the jar 10- put the scooper in the black holder 11- put the lid on the jar 12- take out the plastic bowl from the room Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic bowl on the table in the left side room 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic bowl on the table in the left side room\n\u003c/PRED\u003e","video":"17064694669165815617.mp4"}
+{"uid":"7572397585776535058","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7178769620699033777.mp4"}
+{"uid":"14923397937219718298","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please Q: immediate next step? \u003cPRED\u003eA: put a scoop pista in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a scoop pista 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 a scoop pista in the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar Q: immediate next step? \u003cPRED\u003eA: put a scoop pista in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntake out a scoop of pista from the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a scoop pista 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take out a scoop of pista from the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table 4- take out a scooper from the holder 5- take out a scoop of pista from the jar 6- put a scoop pista in the paper bowl 7- take out a scoop of pista from the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put a scoop pista in the paper bowl 2- take out a scoop of pista from the jar 3- put the scooper in the black holder 4- put the lid on the jar 5- take out the plastic bowl from the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a scoop pista in the paper bowl\n\u003c/PRED\u003e","video":"8418020546369027958.mp4"}
+{"uid":"6849794623076673056","text":"\u003ctask:success:discrete:False\u003e\ntake out the lid of the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake out the lid of the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- take out the lid of the jar 2- put the lid of the jar on the table 3- take out a scooper from the holder 4- take out a scoop of pista from the jar 5- put a scoop pista in the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take out the lid of the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please Q: immediate next step? \u003cPRED\u003eA: take out the lid of the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take out the lid of the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl Q: immediate next step? \u003cPRED\u003eA: take out the lid of the jar\n\u003c/PRED\u003e","video":"2981389907844226092.mp4"}
+{"uid":"7276189682086824250","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please Q: immediate next step? \u003cPRED\u003eA: take out a scooper from the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake out a scooper from the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table Q: immediate next step? \u003cPRED\u003eA: take out a scooper from the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take out a scooper from the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im going to use phone office for my meeting, so can you make a bowl of pistachos and place it on the table for me please. last 20 steps: 1- unstack a paper bowl 2- take out the lid of the jar 3- put the lid of the jar on the table Q: next 5 steps? \u003cPRED\u003eA: 1- take out a scooper from the holder 2- take out a scoop of pista from the jar 3- put a scoop pista in the paper bowl 4- take out a scoop of pista from the jar 5- put a scoop pista in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take out a scooper from the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake out a scooper from the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6927146768062848538.mp4"}
+{"uid":"10829779330030246096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput lid back 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":"17505600925091393677.mp4"}
+{"uid":"7940502227192299050","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place an orange on the table 2- put the orange on the table 3- put the orange on the table 4- put the pears on the table 5- place an orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table Q: immediate next step? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e","video":"8437162590159792188.mp4"}
+{"uid":"15057155478917435950","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":"9261326178809318722.mp4"}
+{"uid":"9148988564009740567","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut red \nchocolate 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":"1680128738601717448.mp4"}
+{"uid":"144773185534758982","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table 8- put the orange on the table 9- put the pears on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place an orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table 8- put the orange on the table 9- put the pears on the table Q: immediate next step? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7225371976572911394.mp4"}
+{"uid":"14830748359780045254","text":"\u003ctask:success:discrete:True\u003e\nput the pears on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana on the table 2- put the orange on the table 3- put the orange on the table 4- put the orange on the table 5- put the pears on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pears on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table Q: immediate next step? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e","video":"3574796795143005454.mp4"}
+{"uid":"1824743888646664253","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table Q: immediate next step? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place an orange on the table 2- put the orange on the table 3- put the pears on the table 4- place an orange 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 an orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e","video":"15198566789543558844.mp4"}
+{"uid":"16890026359525324573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow chocolate 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":"18015998483441827549.mp4"}
+{"uid":"13438256403487375072","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the brown cloth 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":"3499162132125862344.mp4"}
+{"uid":"7619780412749148640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the bowl left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2065554153341458871.mp4"}
+{"uid":"18344693539292444999","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16008342128870861318.mp4"}
+{"uid":"12579743379380665808","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":"13575027490347484527.mp4"}
+{"uid":"6050436474350811086","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place a pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table 8- put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place a pear on the table 2- place an orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table 8- put the orange on the table Q: immediate next step? \u003cPRED\u003eA: place a pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a pear on the table\n\u003c/PRED\u003e","video":"17620107799123217587.mp4"}
+{"uid":"7071466202409670186","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the table 2- put the banana on the table 3- put the pears on the table 4- put the banana on the table 5- put the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5619704784202483097.mp4"}
+{"uid":"2088964425208177110","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10311200924424845638.mp4"}
+{"uid":"11409972040057000251","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow pear on the table 2- put the orange on the table 3- put the orange on the table 4- put the orange on the table 5- put the pears on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table Q: immediate next step? \u003cPRED\u003eA: Place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1359426942591646505.mp4"}
+{"uid":"2749898008210537600","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table Q: immediate next step? \u003cPRED\u003eA: place a banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place a banana on the table 2- put the orange on the table 3- put the orange on the table 4- put the orange on the table 5- put the pears on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place a banana on the table\n\u003c/PRED\u003e","video":"13155168998577519433.mp4"}
+{"uid":"7331382325000202237","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the table 2- put the pears on the table 3- place an orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12502771930965185105.mp4"}
+{"uid":"10406995388370753911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange candy in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13052108859587989017.mp4"}
+{"uid":"7173179779906412156","text":"\u003ctask:success:discrete:False\u003e\nPlace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the table 2- put the orange on the table 3- put the orange on the table 4- put the pears on the table 5- place an orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e","video":"10888935597208321599.mp4"}
+{"uid":"16580104135294418541","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a chewing gum 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":"1340409930112175833.mp4"}
+{"uid":"949417441686926910","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the table 2- put the pears on the table 3- place an orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e","video":"1056621046057442273.mp4"}
+{"uid":"15251548217051457524","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table Q: immediate next step? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana on the table 2- put the pears on the table 3- put the banana on the table 4- put the orange on the table 5- put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e","video":"6151726083012141621.mp4"}
+{"uid":"12233203711040432555","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":"11708469072583045862.mp4"}
+{"uid":"18045665694755816831","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place a banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table Q: immediate next step? \u003cPRED\u003eA: place a banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place a banana on the table 2- put the banana on the table 3- put the pears on the table 4- put the banana on the table 5- put the orange on the table\n\u003c/PRED\u003e","video":"18266991538081165148.mp4"}
+{"uid":"807291730134603544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14352929963046487853.mp4"}
+{"uid":"6441629964819197725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pink candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10835627409770572923.mp4"}
+{"uid":"3681183975252077047","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table 8- put the orange on the table 9- put the pears on the table 10- place an orange on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace an orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table 8- put the orange on the table 9- put the pears on the table 10- place an orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17289778953212159725.mp4"}
+{"uid":"845489952670753616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm towards the potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16551618483231104621.mp4"}
+{"uid":"11849814716325930744","text":"\u003ctask:success:discrete:False\u003e\nPlace the yellow pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table 8- put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow pear on the table 2- place an orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table 8- put the orange on the table Q: immediate next step? \u003cPRED\u003eA: Place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the yellow pear on the table\n\u003c/PRED\u003e","video":"6756248674156537485.mp4"}
+{"uid":"15601719266344002469","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange on the table 2- put the orange on the table 3- put the orange on the table 4- put the pears on the table 5- place an orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e","video":"9873101342156608062.mp4"}
+{"uid":"15166059934767480104","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fruit in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9489182807607518223.mp4"}
+{"uid":"17643802151560287019","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"15839534357138343815.mp4"}
+{"uid":"1238771019098327040","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table Q: immediate next step? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana on the table 2- put the banana on the table 3- put the pears on the table 4- put the banana on the table 5- put the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e","video":"6339704949205352590.mp4"}
+{"uid":"1053556745430923900","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":"871800122474552970.mp4"}
+{"uid":"18335224186873896381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7606739437299857014.mp4"}
+{"uid":"13570874872615091988","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl 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":"10154577986089225504.mp4"}
+{"uid":"4638445619439671158","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9896690868395385713.mp4"}
+{"uid":"764513110329285195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep 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":"2401337405230371073.mp4"}
+{"uid":"6033502963940122524","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place an orange on the table 2- put the pears on the table 3- place an orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table Q: immediate next step? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16532534277051918215.mp4"}
+{"uid":"14391168832371763740","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":"7909990300853136339.mp4"}
+{"uid":"4683178852656242042","text":"\u003ctask:success:discrete:False\u003e\nplace an orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place an orange on the table 2- put the banana on the table 3- put the pears on the table 4- put the banana on the table 5- put the orange on the table\n\u003c/PRED\u003e","video":"686818734672641390.mp4"}
+{"uid":"1199457079334367647","text":"\u003ctask:success:discrete:False\u003e\nPlace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana on the table 2- put the orange on the table 3- put the orange on the table 4- put the orange on the table 5- put the pears on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table Q: immediate next step? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3124944275487986154.mp4"}
+{"uid":"11874709716357466652","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":"391963270425263682.mp4"}
+{"uid":"16789764351220587724","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the notebook 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":"2315232293606104495.mp4"}
+{"uid":"12200721818340027952","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange on the table 2- put the orange on the table 3- put the pears on the table 4- place an orange on the table 5- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e","video":"11469281294818533546.mp4"}
+{"uid":"9115933191790784983","text":"\u003ctask:success:discrete:True\u003e\nplace an orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e","video":"4004868360615505610.mp4"}
+{"uid":"13280040312697840859","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana on the table 2- put the pears on the table 3- put the banana on the table 4- put the orange on the table 5- put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table Q: immediate next step? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e","video":"11660075759751700929.mp4"}
+{"uid":"16095184836969333604","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table 8- put the orange on the table 9- put the pears on the table Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table 8- put the orange on the table 9- put the pears on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange on the table 2- done\n\u003c/PRED\u003e","video":"1801780015668073344.mp4"}
+{"uid":"5566013553490291292","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":"8820241147300854004.mp4"}
+{"uid":"6753253279515322562","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put the pears on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table Q: immediate next step? \u003cPRED\u003eA: put the pears on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pears 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 pears on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 pears on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pears on the table 2- put the banana on the table 3- put the orange on the table 4- put the orange on the table 5- put the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pears on the table\n\u003c/PRED\u003e","video":"14863353596470625344.mp4"}
+{"uid":"12874030687993701493","text":"\u003ctask:success:discrete:False\u003e\nput the pears 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table 8- put the orange on the table Q: immediate next step? \u003cPRED\u003eA: put the pears on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pears on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table 8- put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pears on the table 2- place an orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pears on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pears on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put the pears on the table\n\u003c/PRED\u003e","video":"12347180059615746081.mp4"}
+{"uid":"3989661411967182492","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table 8- put the orange on the table 9- put the pears on the table Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table 8- put the orange on the table 9- put the pears on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e","video":"1051517556930737876.mp4"}
+{"uid":"14015769606074889200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTurn off the lamp Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1045482605335825879.mp4"}
+{"uid":"12384354071194475849","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":"15972687404075965861.mp4"}
+{"uid":"11987254897256367448","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place a banana on the table 2- put the pears on the table 3- put the banana on the table 4- put the orange on the table 5- put the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place a banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table Q: immediate next step? \u003cPRED\u003eA: place a banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5801381838661318831.mp4"}
+{"uid":"17006862603339804829","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen right 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":"5216217501769488842.mp4"}
+{"uid":"10597727536014737056","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange on the table 2- put the pears on the table 3- place an orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table 6- put the orange on the table 7- put the orange on the table Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e","video":"13390413623185228722.mp4"}
+{"uid":"8120333186783540504","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table 4- put the pears on the table 5- put the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6158825448363288472.mp4"}
+{"uid":"2678867123002883857","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place a pear on the table 2- put the orange on the table 3- put the orange on the table 4- put the orange on the table 5- put the pears on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table 3- put the banana on the table Q: immediate next step? \u003cPRED\u003eA: place a pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a pear on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place a pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14837301771843766413.mp4"}
+{"uid":"5480281261729820393","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":"1927459788450326403.mp4"}
+{"uid":"2003857555247202993","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":"11103901228751548746.mp4"}
+{"uid":"18146248129397709337","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table Q: immediate next step? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl. last 20 steps: 1- put the orange on the table 2- put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana on the table 2- put the pears on the table 3- put the banana on the table 4- put the orange on the table 5- put the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Place the banana on the table\n\u003c/PRED\u003e","video":"1354893705913891197.mp4"}
+{"uid":"5891060547731844953","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":"17808000074818663192.mp4"}
+{"uid":"5501303193620001088","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand Q: immediate next step? \u003cPRED\u003eA: put the blue colour pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue colour pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue colour pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: put the blue colour pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue colour pen in the stand 2- put a blue pen in the pen holder 3- pick the scissor 4- Put the scissor into the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue colour pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue colour pen in the stand\n\u003c/PRED\u003e","video":"3818061513589127688.mp4"}
+{"uid":"4909604752868806647","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":"11900643211604864923.mp4"}
+{"uid":"8892207251977669358","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a glue stick in that pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a glue stick in that pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: put a glue stick in that pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand Q: immediate next step? \u003cPRED\u003eA: put a glue stick in that pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand Q: next 5 steps? \u003cPRED\u003eA: 1- put a glue stick in that pen holder 2- put a blue pen in the pen holder 3- put a blue pen in the pen holder 4- pick the scissor 5- Put the scissor into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a glue stick in that pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a glue stick in that pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17321906615757939491.mp4"}
+{"uid":"16903514510150307317","text":"\u003ctask:success:discrete:True\u003e\nput the yellow colour sketch in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow colour sketch in the stand\n\u003c/PRED\u003e","video":"13213224783291491103.mp4"}
+{"uid":"17981978050756381931","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the scissor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the scissor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the scissor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the scissor 2- Put the scissor into the pen holder 3- done\n\u003c/PRED\u003e","video":"10473232563501657280.mp4"}
+{"uid":"7415799619457817794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17289145671421675924.mp4"}
+{"uid":"633795672497052601","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scissor into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder 5- put a blue pen in the pen holder 6- pick the scissor Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scissor into the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder 5- put a blue pen in the pen holder 6- pick the scissor Q: immediate next step? \u003cPRED\u003eA: Put the scissor into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: Put the scissor into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scissor into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the scissor into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scissor into the pen holder\n\u003c/PRED\u003e","video":"18226160661476510827.mp4"}
+{"uid":"1040230700907352987","text":"\u003ctask:success:discrete:True\u003e\nPut the blue pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue pen into the pen holder\n\u003c/PRED\u003e","video":"12418869302187349340.mp4"}
+{"uid":"9362079700839461625","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6713558523296949655.mp4"}
+{"uid":"7666386611179324198","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder 5- put a blue pen in the pen holder 6- pick the scissor 7- put the scissor in the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the scissor in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder 5- put a blue pen in the pen holder 6- pick the scissor 7- put the scissor in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the scissor in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14192264296654015572.mp4"}
+{"uid":"8450802875603137080","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":"5132018129260597614.mp4"}
+{"uid":"17403722175676594773","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a scissor in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a scissor in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder 5- put a blue pen in the pen holder 6- pick the scissor Q: next 5 steps? \u003cPRED\u003eA: 1- put a scissor in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder 5- put a blue pen in the pen holder 6- pick the scissor Q: immediate next step? \u003cPRED\u003eA: put a scissor in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: put a scissor in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a scissor in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a scissor in the pen holder\n\u003c/PRED\u003e","video":"17117167412035920184.mp4"}
+{"uid":"1749561652740490385","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange colour pen in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange colour pen in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2060923609698041819.mp4"}
+{"uid":"9865572436334570109","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":"17420428331340017006.mp4"}
+{"uid":"4300172313743359568","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1759156941006108446.mp4"}
+{"uid":"9072502367081448367","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: put a blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put a blue pen in the pen holder 2- put a blue pen in the pen holder 3- pick the scissor 4- Put the scissor into the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand Q: immediate next step? \u003cPRED\u003eA: put a blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6195934619663882963.mp4"}
+{"uid":"12699230429391889089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue 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":"12356693359608541940.mp4"}
+{"uid":"14795645335001273186","text":"\u003ctask:success:discrete:True\u003e\nput a red pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a red pen in the pen holder\n\u003c/PRED\u003e","video":"380578059198653398.mp4"}
+{"uid":"3232594740399093887","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the red pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5435170533623005297.mp4"}
+{"uid":"4633311551018127727","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand Q: immediate next step? \u003cPRED\u003eA: Put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the marker into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: Put the marker into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker into the pen holder 2- put a blue pen in the pen holder 3- put a blue pen in the pen holder 4- pick the scissor 5- Put the scissor into the pen holder\n\u003c/PRED\u003e","video":"18375086163149846285.mp4"}
+{"uid":"4288568228351682722","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":"5760293633090004702.mp4"}
+{"uid":"7860986852989082985","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":"8557263056725402467.mp4"}
+{"uid":"6085635859000122869","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put a black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put a black pen in the pen holder 2- put a blue pen in the pen holder 3- put a blue pen in the pen holder 4- pick the scissor 5- Put the scissor into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a black pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: put a black pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a black pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a black pen in the pen holder\n\u003c/PRED\u003e","video":"17923774059149576686.mp4"}
+{"uid":"12908438109246663908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17380218039856238455.mp4"}
+{"uid":"8140002532156185903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14832673372016023535.mp4"}
+{"uid":"1039088587411342329","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put a red pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a red pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a red pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: put a red pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a red pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a red pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder 5- put a blue pen in the pen holder\n\u003c/PRED\u003e","video":"2992852687786489050.mp4"}
+{"uid":"7980492563270861331","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1364047237593642533.mp4"}
+{"uid":"3614176974432136993","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the scissor into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder 5- put a blue pen in the pen holder 6- pick the scissor 7- Put the scissor into the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the scissor into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder 5- put a blue pen in the pen holder 6- pick the scissor 7- Put the scissor into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10126813621590775852.mp4"}
+{"uid":"9232685139751025027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the popcorn packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7579450458241960490.mp4"}
+{"uid":"15726669649730674397","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder 5- put a blue pen in the pen holder 6- pick the scissor Q: immediate next step? \u003cPRED\u003eA: put the scissor in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder 5- put a blue pen in the pen holder 6- pick the scissor Q: next 5 steps? \u003cPRED\u003eA: 1- put the scissor in the stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: put the scissor in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the scissor in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the scissor in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the scissor in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the scissor in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5983083020992614151.mp4"}
+{"uid":"3261915487205052615","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13348414296129040232.mp4"}
+{"uid":"5812827363216472881","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2469400423635209627.mp4"}
+{"uid":"12755074082589700318","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue colour pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue colour pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4999573952419111865.mp4"}
+{"uid":"13248164255104068510","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand Q: immediate next step? \u003cPRED\u003eA: Put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: Put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen into the pen holder 2- put a blue pen in the pen holder 3- pick the scissor 4- Put the scissor into the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17611633189515193199.mp4"}
+{"uid":"8739028405859329583","text":"\u003ctask:success:discrete:True\u003e\nput the black colour pen in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black colour pen in stand\n\u003c/PRED\u003e","video":"17890490214254766894.mp4"}
+{"uid":"5995800887308645873","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put a blue pen in the pen holder 2- Put the scissor into the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put a blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: put a blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16157682668817046326.mp4"}
+{"uid":"14785486054290982991","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11850313231000979011.mp4"}
+{"uid":"14250264571993068086","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow colour sketch in the stand 2- put a blue pen in the pen holder 3- put a blue pen in the pen holder 4- pick the scissor 5- Put the scissor into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow colour sketch in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow colour sketch in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand Q: immediate next step? \u003cPRED\u003eA: put the yellow colour sketch in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow colour sketch in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow colour sketch in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: put the yellow colour sketch in the stand\n\u003c/PRED\u003e","video":"12212852147169996122.mp4"}
+{"uid":"6881911531556479992","text":"\u003ctask:success:discrete:True\u003e\nput a blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a blue pen in the pen holder\n\u003c/PRED\u003e","video":"541789254982571897.mp4"}
+{"uid":"7904394708208537275","text":"\u003ctask:success:discrete:True\u003e\nput the blue colour pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue colour pen in the stand\n\u003c/PRED\u003e","video":"10457876509655435264.mp4"}
+{"uid":"15095778498606417327","text":"\u003ctask:success:discrete:True\u003e\nput a blue pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a blue pen in the pen holder\n\u003c/PRED\u003e","video":"13570198873831879418.mp4"}
+{"uid":"13913906545315964799","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11177176661770174470.mp4"}
+{"uid":"15311589981812305115","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bowl upright on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6649524174352882077.mp4"}
+{"uid":"12805219397878939736","text":"\u003ctask:success:discrete:True\u003e\nPut the marker into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the marker into the pen holder\n\u003c/PRED\u003e","video":"12021272007544016727.mp4"}
+{"uid":"15848958774465208782","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder 5- put a blue pen in the pen holder 6- pick the scissor 7- put a scissor in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder 5- put a blue pen in the pen holder 6- pick the scissor 7- put a scissor in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a scissor in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a scissor in the pen holder\n\u003c/PRED\u003e","video":"11388570367523023108.mp4"}
+{"uid":"4898957544485978024","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen into the pen holder 2- Put the scissor into the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: Put the blue pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17341638689675198254.mp4"}
+{"uid":"15751549406035620091","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15081426703320717384.mp4"}
+{"uid":"11671123224653195598","text":"\u003ctask:success:discrete:False\u003e\nPut the black pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black pen into the pen holder 2- put a blue pen in the pen holder 3- put a blue pen in the pen holder 4- pick the scissor 5- Put the scissor into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: Put the black pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black pen into the pen holder\n\u003c/PRED\u003e","video":"11560513337104160426.mp4"}
+{"uid":"8240244491290353921","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: move arm down\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove arm down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move arm down\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand Q: immediate next step? \u003cPRED\u003eA: move arm down\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move arm down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove arm down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand Q: next 5 steps? \u003cPRED\u003eA: 1- move arm down 2- put a blue pen in the pen holder 3- put a blue pen in the pen holder 4- pick the scissor 5- Put the scissor into the pen holder\n\u003c/PRED\u003e","video":"16699288193226409282.mp4"}
+{"uid":"12010127678156195476","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue colour pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: put the blue colour pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue colour pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue colour pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue colour pen in the stand 2- pick the scissor 3- Put the scissor into the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue colour pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue colour pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8117689381282827838.mp4"}
+{"uid":"7694157115404207851","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black colour pen in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: put the black colour pen in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black colour pen in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black colour pen in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: put the black colour pen in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: 1- put a red pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the black colour pen in stand 2- put the yellow colour sketch in the stand 3- put a blue pen in the pen holder 4- put a blue pen in the pen holder 5- pick the scissor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black colour pen in stand\n\u003c/PRED\u003e","video":"15052456766334494054.mp4"}
+{"uid":"6002194636803773700","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the choco ball in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"434456237279830414.mp4"}
+{"uid":"2708413047525279347","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a blue stone in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6094029938401194730.mp4"}
+{"uid":"1857499997466497524","text":"\u003ctask:success:discrete:False\u003e\nPut the red pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red pen into the pen holder 2- put the yellow colour sketch in the stand 3- put a blue pen in the pen holder 4- put a blue pen in the pen holder 5- pick the scissor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: Put the red pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red pen into the pen holder\n\u003c/PRED\u003e","video":"9621845101691906283.mp4"}
+{"uid":"513938848957369410","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3142376346296158371.mp4"}
+{"uid":"4429033783331906233","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a glue stick in that pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a glue stick in that pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4060127502243526883.mp4"}
+{"uid":"4919077968615923863","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange colour pen in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange colour pen in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange colour pen in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange colour pen in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. Q: immediate next step? \u003cPRED\u003eA: put orange colour pen in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the supplies in the pencil holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange colour pen in stand 2- put the black colour pen in stand 3- put the yellow colour sketch in the stand 4- put a blue pen in the pen holder 5- put a blue pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange colour pen in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5640673322816734760.mp4"}
+{"uid":"15544854805344068708","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the coffee cup from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the coffee cup 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":"3067391962317045521.mp4"}
+{"uid":"9481013107476504783","text":"\u003ctask:success:discrete:True\u003e\nmove the chair near 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 the chair near to the table\n\u003c/PRED\u003e","video":"7401410935170409367.mp4"}
+{"uid":"16737874085125997826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistas in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18012925419572192739.mp4"}
+{"uid":"12473612519921847300","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":"1861610742867192665.mp4"}
+{"uid":"6016583367575163164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17699564442933015976.mp4"}
+{"uid":"981845760871196388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chocolate in small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1300952989790726421.mp4"}
+{"uid":"12893110428222227855","text":"\u003ctask:success:discrete:True\u003e\nmove the chair near 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 the chair near to the table\n\u003c/PRED\u003e","video":"15199391303173097497.mp4"}
+{"uid":"15841478442818742684","text":"\u003ctask:success:discrete:True\u003e\nPress Black Oak from the menu on the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Press Black Oak from the menu on the coffee machine\n\u003c/PRED\u003e","video":"15095807668431631869.mp4"}
+{"uid":"13574743916617629044","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the vanilla bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the vanilla 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 vanilla bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table Q: immediate next step? \u003cPRED\u003eA: Place the vanilla bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the vanilla bottle on the table 2- Place the cup next to the vanilla bottle 3- Squeeze the liquid inside the cup below 4- Place the bottle back on the stand 5- Place the cup inside the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the vanilla 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: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Place the vanilla bottle on the table\n\u003c/PRED\u003e","video":"4931221747339331799.mp4"}
+{"uid":"9381592999618098579","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair near 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: We have a meeting soon. Can you prepare the Focal Point meeting room? Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table 5- move the chair near to the table 6- move the chair near to the table 7- move the chair near to the table Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table 5- move the chair near to the table 6- move the chair near to the table 7- move the chair near to the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair near to the table 2- move the chair near to the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e","video":"11382766617872378311.mp4"}
+{"uid":"5854047341166999549","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the chair near 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":"10833267442269478795.mp4"}
+{"uid":"5854238957602198096","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table 14- Pour milk from the carton in the coffee cup 15- place the milk carton on the table 16- Pick up the stick from the holder 17- Put the stick inside the coffee cup Q: next 5 steps? \u003cPRED\u003eA: 1- Mix the coffee with the stick 2- Place the stick inside the trash bin 3- Pick the coffee cup from the table 4- Place the coffee cup on other table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMix the coffee with the stick Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table 14- Pour milk from the carton in the coffee cup 15- place the milk carton on the table 16- Pick up the stick from the holder 17- Put the stick inside the coffee cup Q: immediate next step? \u003cPRED\u003eA: Mix the coffee with the stick\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Mix the coffee with the stick\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMix the coffee with the stick Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Mix the coffee with the stick\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Mix the coffee with the stick\n\u003c/PRED\u003e","video":"215782672277818294.mp4"}
+{"uid":"4379752039823150143","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table 14- Pour milk from the carton in the coffee cup 15- place the milk carton on the table 16- Pick up the stick from the holder 17- Put the stick inside the coffee cup 18- Mix the coffee with the stick Q: immediate next step? \u003cPRED\u003eA: Place the stick inside the trash bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Place the stick inside the trash bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the stick inside 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the stick inside the trash bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table 14- Pour milk from the carton in the coffee cup 15- place the milk carton on the table 16- Pick up the stick from the holder 17- Put the stick inside the coffee cup 18- Mix the coffee with the stick Q: next 5 steps? \u003cPRED\u003eA: 1- Place the stick inside the trash bin 2- Pick the coffee cup from the table 3- Place the coffee cup on other table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the stick inside the trash bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the stick inside the trash bin\n\u003c/PRED\u003e","video":"8441772288275960489.mp4"}
+{"uid":"2516927082459244259","text":"\u003ctask:success:discrete:True\u003e\nPour milk from the carton in the coffee 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: Pour milk from the carton in the coffee cup\n\u003c/PRED\u003e","video":"17029438067214444589.mp4"}
+{"uid":"1719394099349500313","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the candy in the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the candy in 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":"6350280826754819708.mp4"}
+{"uid":"14220588788035780290","text":"\u003ctask:success:discrete:False\u003e\nPick up the stick from the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the stick from the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table 14- Pour milk from the carton in the coffee cup 15- place the milk carton on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the stick from the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table 14- Pour milk from the carton in the coffee cup 15- place the milk carton on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the stick from the holder 2- Put the stick inside the coffee cup 3- Mix the coffee with the stick 4- Place the stick inside the trash bin 5- Pick the coffee 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 stick from the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the stick from the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Pick up the stick from the holder\n\u003c/PRED\u003e","video":"4205322894698340042.mp4"}
+{"uid":"8232518647222168641","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine Q: immediate next step? \u003cPRED\u003eA: Take out the milk carton from the cupboard down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out the milk carton from the cupboard down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake out the milk carton from the cupboard down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the milk carton from the cupboard down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Take out the milk carton from the cupboard down\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the milk carton from the cupboard down\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the milk carton from the cupboard down 2- Place the milk carton on the table 3- Take out white sugar packet from the organizer box 4- Place the coffee cup on the table 5- Pour milk from the carton in the coffee cup\n\u003c/PRED\u003e","video":"12588670448834833123.mp4"}
+{"uid":"2205994374025664530","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPress Black Oak from the menu on the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Press Black Oak from the menu on the coffee machine 2- Take out the milk carton from the cupboard down 3- Place the milk carton on the table 4- Take out white sugar packet from the organizer box 5- Place the coffee cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Press Black Oak from the menu on the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Press Black Oak from the menu on the coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine Q: immediate next step? \u003cPRED\u003eA: Press Black Oak from the menu on the coffee machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Press Black Oak from the menu on the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPress Black Oak from the menu on the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10666187584386149720.mp4"}
+{"uid":"11615291443789487106","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place a banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace a banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14330647572773568697.mp4"}
+{"uid":"10026291671178935140","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the coffee cup on other table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Place the coffee cup on other table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table 14- Pour milk from the carton in the coffee cup 15- place the milk carton on the table 16- Pick up the stick from the holder 17- Put the stick inside the coffee cup 18- Mix the coffee with the stick 19- Place the stick inside the trash bin 20- Pick the coffee cup from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the coffee cup on other table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table 14- Pour milk from the carton in the coffee cup 15- place the milk carton on the table 16- Pick up the stick from the holder 17- Put the stick inside the coffee cup 18- Mix the coffee with the stick 19- Place the stick inside the trash bin 20- Pick the coffee cup from the table Q: immediate next step? \u003cPRED\u003eA: Place the coffee cup on other table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the coffee cup on other table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 coffee cup on other table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 coffee cup on other table\n\u003c/PRED\u003e","video":"3884445386771318670.mp4"}
+{"uid":"9402300028741185213","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones Q: immediate next step? \u003cPRED\u003eA: Put the black object in the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: 1- Place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black object in the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black object in the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the black object in the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: 1- Place the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the black object in the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the black object in the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black object in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5033903024751849392.mp4"}
+{"uid":"17676350270052700602","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table 5- move the chair near to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room? Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair near to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14778807655101486544.mp4"}
+{"uid":"7227167441811803308","text":"\u003ctask:success:discrete:True\u003e\nMix the coffee with the stick Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Mix the coffee with the stick\n\u003c/PRED\u003e","video":"17484208850273039227.mp4"}
+{"uid":"3499853401685404169","text":"\u003ctask:success:discrete:True\u003e\nPlace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e","video":"3828501844416005997.mp4"}
+{"uid":"10636763918983281629","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: 1- Place the packet on the table 2- put the black box 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: Put the black object in the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: 1- Place the packet on the table 2- put the black box on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: 1- Place the packet on the table 2- Put the black object in the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: 1- Place the packet on the table 2- Put the black object in the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black object in 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: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black box on the table\n\u003c/PRED\u003e","video":"4672147628896397092.mp4"}
+{"uid":"10990493465491078141","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"640945757517741164.mp4"}
+{"uid":"2345649496065030029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the wet wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1190662230361992141.mp4"}
+{"uid":"2462582917495622553","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the black 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: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: 1- Place the packet on the table Q: immediate next step? \u003cPRED\u003eA: Place the black box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the black 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the black box on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the black box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: 1- Place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the black box on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones Q: immediate next step? \u003cPRED\u003eA: Place the black box on the table\n\u003c/PRED\u003e","video":"8627325996109959453.mp4"}
+{"uid":"4419247031202694324","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair near 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room? Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table 5- move the chair near to the table\n\u003c/PRED\u003e","video":"6767231822139495123.mp4"}
+{"uid":"4933525826440780825","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pour milk from the carton in the coffee cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table Q: immediate next step? \u003cPRED\u003eA: Pour milk from the carton in the coffee cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPour milk from the carton in the coffee 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: Pour milk from the carton in the coffee cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Pour milk from the carton in the coffee cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPour milk from the carton in the coffee 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: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pour milk from the carton in the coffee cup 2- place the milk carton on the table 3- Pick up the stick from the holder 4- Put the stick inside the coffee cup 5- Mix the coffee with the stick\n\u003c/PRED\u003e","video":"2758897632228490312.mp4"}
+{"uid":"10399676054830706465","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":"6153106225479681853.mp4"}
+{"uid":"3271034436005406898","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack Q: immediate next step? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on the table 2- Place the vanilla bottle on the table 3- Place the cup next to the vanilla bottle 4- Squeeze the liquid inside the cup below 5- Place the bottle back on the stand\n\u003c/PRED\u003e","video":"11325670009028322955.mp4"}
+{"uid":"9802651612465769121","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue 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":"9189440964222300793.mp4"}
+{"uid":"16010961241965377273","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown paper cup into the left 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":"3657260630748386973.mp4"}
+{"uid":"5345301157061845959","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out white sugar packet from the organizer box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Take out white sugar packet from the organizer box 2- Place the coffee cup on the table 3- Pour milk from the carton in the coffee cup 4- place the milk carton on the table 5- Pick up the stick from the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out white sugar packet from the organizer box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Take out white sugar packet from the organizer box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out white sugar packet from the organizer box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake out white sugar packet from the organizer box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table Q: immediate next step? \u003cPRED\u003eA: Take out white sugar packet from the organizer box\n\u003c/PRED\u003e","video":"7554903935399294721.mp4"}
+{"uid":"1029610154368985197","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the bottle back on the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below Q: immediate next step? \u003cPRED\u003eA: Place the bottle back on the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the bottle back on the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the bottle back on the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Place the bottle back on the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the bottle back on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below Q: next 5 steps? \u003cPRED\u003eA: 1- Place the bottle back on the stand 2- Place the cup inside the coffee machine 3- Press Black Oak from the menu on the coffee machine 4- Take out the milk carton from the cupboard down 5- Place the milk carton on the table\n\u003c/PRED\u003e","video":"10818325480146759699.mp4"}
+{"uid":"13766593861484251842","text":"\u003ctask:success:discrete:True\u003e\nmove the chair near 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 the chair near to the table\n\u003c/PRED\u003e","video":"6666283646835600519.mp4"}
+{"uid":"15966328884037474430","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Pick the coffee cup from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table 14- Pour milk from the carton in the coffee cup 15- place the milk carton on the table 16- Pick up the stick from the holder 17- Put the stick inside the coffee cup 18- Mix the coffee with the stick 19- Place the stick inside the trash bin Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the coffee cup from the table 2- Place the coffee cup on other table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the coffee cup from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the coffee cup from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the coffee 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table 14- Pour milk from the carton in the coffee cup 15- place the milk carton on the table 16- Pick up the stick from the holder 17- Put the stick inside the coffee cup 18- Mix the coffee with the stick 19- Place the stick inside the trash bin Q: immediate next step? \u003cPRED\u003eA: Pick the coffee cup from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the coffee 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","video":"13215248653423170252.mp4"}
+{"uid":"1095256394986554678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14900464870970805521.mp4"}
+{"uid":"17220819166797200947","text":"\u003ctask:success:discrete:True\u003e\nPlace the coffee cup on other 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: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the coffee cup on other table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Take out a cup from the stack 2- Place the cup on the table 3- Place the vanilla bottle on the table 4- Place the cup next to the vanilla bottle 5- Squeeze the liquid inside the cup below 6- Place the bottle back on the stand 7- Place the cup inside the coffee machine 8- Press Black Oak from the menu on the coffee machine 9- Take out the milk carton from the cupboard down 10- Place the milk carton on the table 11- Take out white sugar packet from the organizer box 12- Place the coffee cup on the table 13- Pour milk from the carton in the coffee cup 14- place the milk carton on the table 15- Pick up the stick from the holder 16- Put the stick inside the coffee cup 17- Mix the coffee with the stick 18- Place the stick inside the trash bin 19- Pick the coffee cup from the table 20- Place the coffee cup on other table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Take out a cup from the stack 2- Place the cup on the table 3- Place the vanilla bottle on the table 4- Place the cup next to the vanilla bottle 5- Squeeze the liquid inside the cup below 6- Place the bottle back on the stand 7- Place the cup inside the coffee machine 8- Press Black Oak from the menu on the coffee machine 9- Take out the milk carton from the cupboard down 10- Place the milk carton on the table 11- Take out white sugar packet from the organizer box 12- Place the coffee cup on the table 13- Pour milk from the carton in the coffee cup 14- place the milk carton on the table 15- Pick up the stick from the holder 16- Put the stick inside the coffee cup 17- Mix the coffee with the stick 18- Place the stick inside the trash bin 19- Pick the coffee cup from the table 20- Place the coffee cup on other table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5085489296510032009.mp4"}
+{"uid":"15381423530745773792","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair near to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table 5- move the chair near to the table 6- move the chair near to the table Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table 5- move the chair near to the table 6- move the chair near to the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room? Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e","video":"12255457629017616705.mp4"}
+{"uid":"9201804574067717352","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6216658611946833124.mp4"}
+{"uid":"14514823879634237143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pens in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16018320003103959870.mp4"}
+{"uid":"9347637273130127575","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table 5- move the chair near to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair near 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: We have a meeting soon. Can you prepare the Focal Point meeting room? Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e","video":"15958452078268336686.mp4"}
+{"uid":"7823388264652346625","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to 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":"15486880304076408907.mp4"}
+{"uid":"14525874742406697556","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the black 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: 1- Place the packet on the table 2- Place the black 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 the black box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: 1- Place the packet on the table 2- Place the black box on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11428907363702967279.mp4"}
+{"uid":"3283791720949970228","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take out the milk carton from the cupboard down\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake out the milk carton from the cupboard down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12765762478390684893.mp4"}
+{"uid":"10843687244060122512","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet on the table 2- put the black box on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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: put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones Q: immediate next step? \u003cPRED\u003eA: put the packet on the table\n\u003c/PRED\u003e","video":"13667602841001895469.mp4"}
+{"uid":"6536599727826313671","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the chair near 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":"527489158924540937.mp4"}
+{"uid":"7198904342364082406","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the coffee cup on the table 2- Pour milk from the carton in the coffee cup 3- place the milk carton on the table 4- Pick up the stick from the holder 5- Put the stick inside the coffee cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the coffee 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the coffee cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the coffee cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the coffee cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Place the coffee cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box Q: immediate next step? \u003cPRED\u003eA: Place the coffee cup on the table\n\u003c/PRED\u003e","video":"15353387379404059478.mp4"}
+{"uid":"17292403263995387550","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the nut in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10602618921435538840.mp4"}
+{"uid":"9627431563534248094","text":"\u003ctask:success:discrete:True\u003e\nSqueeze the liquid inside the cup below Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Squeeze the liquid inside the cup below\n\u003c/PRED\u003e","video":"1012100389354452517.mp4"}
+{"uid":"11244320696825563052","text":"\u003ctask:success:discrete:True\u003e\nmove the chair near 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table 5- move the chair near to the table 6- move the chair near to the table 7- move the chair near to the table 8- move the chair near to the table 9- move the chair near to the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table 5- move the chair near to the table 6- move the chair near to the table 7- move the chair near to the table 8- move the chair near to the table 9- move the chair near to the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"454381669091033440.mp4"}
+{"uid":"17367899417892401843","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down Q: immediate next step? \u003cPRED\u003eA: Place the milk carton on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Place the milk carton on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the milk carton on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the milk carton 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 milk carton on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the milk carton on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down Q: next 5 steps? \u003cPRED\u003eA: 1- Place the milk carton on the table 2- Take out white sugar packet from the organizer box 3- Place the coffee cup on the table 4- Pour milk from the carton in the coffee cup 5- place the milk carton on the table\n\u003c/PRED\u003e","video":"10117717390014612887.mp4"}
+{"uid":"1472901494517848731","text":"\u003ctask:success:discrete:True\u003e\nPlace the vanilla 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 vanilla bottle on the table\n\u003c/PRED\u003e","video":"10642080238594012583.mp4"}
+{"uid":"2423504667020403954","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: place the milk carton on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table 14- Pour milk from the carton in the coffee cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the milk carton on the table 2- Pick up the stick from the holder 3- Put the stick inside the coffee cup 4- Mix the coffee with the stick 5- Place the stick inside the trash bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the milk carton on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the milk carton on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table 14- Pour milk from the carton in the coffee cup Q: immediate next step? \u003cPRED\u003eA: place the milk carton on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the milk carton on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the milk carton on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13901774697699746793.mp4"}
+{"uid":"10267259973665207700","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Squeeze the liquid inside the cup below 2- Place the bottle back on the stand 3- Place the cup inside the coffee machine 4- Press Black Oak from the menu on the coffee machine 5- Take out the milk carton from the cupboard down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Squeeze the liquid inside the cup below\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Squeeze the liquid inside the cup below\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSqueeze the liquid inside the cup below Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSqueeze the liquid inside the cup below Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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: Squeeze the liquid inside the cup below\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle Q: immediate next step? \u003cPRED\u003eA: Squeeze the liquid inside the cup below\n\u003c/PRED\u003e","video":"3056864938107487591.mp4"}
+{"uid":"7875132955830492164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11797489399015628756.mp4"}
+{"uid":"8272606193135395318","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place a banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Place a banana on the table\n\u003c/PRED\u003e","video":"10567363320522056338.mp4"}
+{"uid":"16712851368660792081","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the coffee cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the coffee cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14005987523276560735.mp4"}
+{"uid":"15981026262130804977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the cardboard box off the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16429901364164715021.mp4"}
+{"uid":"13174298646208691363","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table Q: immediate next step? \u003cPRED\u003eA: Take out a cup from the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out a cup from the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out a cup from the stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Take out a cup from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake out a cup from the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Take out a cup from the stack 2- Place the cup on the table 3- Place the vanilla bottle on the table 4- Place the cup next to the vanilla bottle 5- Squeeze the liquid inside the cup below\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake out a cup from the stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13301314119289004213.mp4"}
+{"uid":"2703273003987597505","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange candy into the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12541653690828256353.mp4"}
+{"uid":"13116924604808812207","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the candy in the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the candy in the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the candy in the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the candy in the table 2- put the black box on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the candy in the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the candy in the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones Q: immediate next step? \u003cPRED\u003eA: Put the candy in the table\n\u003c/PRED\u003e","video":"7600710101650949217.mp4"}
+{"uid":"5360806773743456097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange chip 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":"5023484408145090550.mp4"}
+{"uid":"13307587271221882657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15628126744780527538.mp4"}
+{"uid":"2497445989801727643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"15737217289903191525.mp4"}
+{"uid":"11728363947682066790","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the 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":"8624940483243882240.mp4"}
+{"uid":"15651658356083873859","text":"\u003ctask:success:discrete:False\u003e\nPut the stick inside the coffee 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 didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table 14- Pour milk from the carton in the coffee cup 15- place the milk carton on the table 16- Pick up the stick from the holder Q: immediate next step? \u003cPRED\u003eA: Put the stick inside the coffee cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Put the stick inside the coffee cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the stick inside the coffee cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the stick inside the coffee cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the stick inside the coffee 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: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand 8- Place the cup inside the coffee machine 9- Press Black Oak from the menu on the coffee machine 10- Take out the milk carton from the cupboard down 11- Place the milk carton on the table 12- Take out white sugar packet from the organizer box 13- Place the coffee cup on the table 14- Pour milk from the carton in the coffee cup 15- place the milk carton on the table 16- Pick up the stick from the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the stick inside the coffee cup 2- Mix the coffee with the stick 3- Place the stick inside the trash bin 4- Pick the coffee cup from the table 5- Place the coffee cup on other table\n\u003c/PRED\u003e","video":"15703866262696683501.mp4"}
+{"uid":"12446176214311580136","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn 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":"745032815116501946.mp4"}
+{"uid":"1533734128678370092","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup next to the vanilla bottle 2- Squeeze the liquid inside the cup below 3- Place the bottle back on the stand 4- Place the cup inside the coffee machine 5- Press Black Oak from the menu on the coffee machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup next to the vanilla bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table Q: immediate next step? \u003cPRED\u003eA: Place the cup next to the vanilla bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup next to 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup next to the vanilla bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Place the cup next to the vanilla bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cup next to 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","video":"14395274469183898041.mp4"}
+{"uid":"12049437030238600994","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room? Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair near to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table 5- move the chair near to the table\n\u003c/PRED\u003e","video":"3303176498231017302.mp4"}
+{"uid":"12641354644445430512","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12473486035146503673.mp4"}
+{"uid":"15097784641927366149","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup inside the coffee machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup inside the coffee machine 2- Press Black Oak from the menu on the coffee machine 3- Take out the milk carton from the cupboard down 4- Place the milk carton on the table 5- Take out white sugar packet from the organizer box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. . last 20 steps: 1- Place a banana on the table 2- Take out a cup from the stack 3- Place the cup on the table 4- Place the vanilla bottle on the table 5- Place the cup next to the vanilla bottle 6- Squeeze the liquid inside the cup below 7- Place the bottle back on the stand Q: immediate next step? \u003cPRED\u003eA: Place the cup inside the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup inside the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup inside the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cup inside the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I didn't eat breakfast this morning, can you make me a coffee as well as bring my a banana to my table in the corner of the MK. Q: immediate next step? \u003cPRED\u003eA: Place the cup inside the coffee machine\n\u003c/PRED\u003e","video":"6990742934679295079.mp4"}
+{"uid":"12956520531584830594","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table 5- move the chair near to the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room? Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair near 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table 5- move the chair near to the table Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e","video":"10298804821112394517.mp4"}
+{"uid":"18277035621874643375","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the glass in the left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7740307753430216802.mp4"}
+{"uid":"10587219948447705862","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table 5- move the chair near to the table 6- move the chair near to the table 7- move the chair near to the table 8- move the chair near to the table Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair near 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: We have a meeting soon. Can you prepare the Focal Point meeting room? Q: immediate next step? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: We have a meeting soon. Can you prepare the Focal Point meeting room?. last 20 steps: 1- move the chair near to the table 2- move the chair near to the table 3- move the chair near to the table 4- move the chair near to the table 5- move the chair near to the table 6- move the chair near to the table 7- move the chair near to the table 8- move the chair near to the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair near to the table 2- done\n\u003c/PRED\u003e","video":"796444260770556748.mp4"}
+{"uid":"1131676760358694586","text":"\u003ctask:success:discrete:True\u003e\nTake out white sugar packet from the organizer 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: Take out white sugar packet from the organizer box\n\u003c/PRED\u003e","video":"14154047323704667424.mp4"}
+{"uid":"12565506563798756207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8111696376956414355.mp4"}
+{"uid":"8785158560842638640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2199908436327491913.mp4"}
+{"uid":"17658333094918541088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the duster on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11268102456080900276.mp4"}
+{"uid":"838797456142383","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the chair near 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":"2555212919421386473.mp4"}
+{"uid":"13087942643051706005","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the chair near to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the chair near 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":"16922070207775443619.mp4"}
+{"uid":"7147263258125925658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange packet in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11740393615961982575.mp4"}
+{"uid":"15049749781141266340","text":"\u003ctask:success:discrete:False\u003e\nput the black 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: 1- Place the packet on the table Q: immediate next step? \u003cPRED\u003eA: put the black box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the 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 black box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones Q: immediate next step? \u003cPRED\u003eA: put the black box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I would like to listen to this TED talk, please grab my headphones from my desk and give this candy to Diego on the way to my desk, and bring back my headphones. last 20 steps: 1- Place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the black box on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black 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","video":"9651592166034834147.mp4"}
+{"uid":"5179015586418845286","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":"9725570756437003896.mp4"}
+{"uid":"13834998816992661942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15059447511442070751.mp4"}
+{"uid":"11649408277708454066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16422963187017528894.mp4"}
+{"uid":"10279663495216798811","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet on the table\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","video":"13294360050449371840.mp4"}
+{"uid":"6348727465701030590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14997019056123304044.mp4"}
+{"uid":"17832842740896781910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12504889355472328120.mp4"}
+{"uid":"14070607639649318053","text":"\u003ctask:success:discrete:True\u003e\nPlace the stick inside 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: Place the stick inside the trash bin\n\u003c/PRED\u003e","video":"14136941678428498947.mp4"}
+{"uid":"3243139739691538368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"667860131493596527.mp4"}
+{"uid":"59821761781914779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6972798398712900755.mp4"}
+{"uid":"13951954628634538690","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cup inside the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cup inside the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"527325159200453983.mp4"}
+{"uid":"8750241951510773737","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the second chair from left into the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16116242751274332086.mp4"}
+{"uid":"8027512054800592349","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the milk in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the milk in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table 14- lift the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- put the milk in the cup 2- place the bottle on the table 3- lift the bottle 4- put the milk in the cup 5- place the bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: put the milk in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the milk in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table 14- lift the bottle Q: immediate next step? \u003cPRED\u003eA: put the milk in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the milk in the cup\n\u003c/PRED\u003e","video":"14924553859332492575.mp4"}
+{"uid":"5834330894583323457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13008064290216479968.mp4"}
+{"uid":"346512492449195856","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table 14- lift the bottle 15- put the milk in the cup 16- place the bottle on the table 17- lift the bottle 18- put the milk in the cup 19- place the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place  the lid on the jar 2- open the left door 3- place the bottle in the Refrigerator 4- close the left door 5- place the cup near the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace  the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  the lid on the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  the lid on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place  the lid on the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table 14- lift the bottle 15- put the milk in the cup 16- place the bottle on the table 17- lift the bottle 18- put the milk in the cup 19- place the bottle on the table Q: immediate next step? \u003cPRED\u003eA: place  the lid on the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place  the lid on the jar\n\u003c/PRED\u003e","video":"8794288679908822580.mp4"}
+{"uid":"16975958775565906393","text":"\u003ctask:success:discrete:False\u003e\nplace the round object 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 round object on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer 5- open the drawer 6- place the triangle on the table 7- place the cuboid on the table 8- close the drawer 9- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the round object on the table 2- place the circle shape object on the table 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: place the round object on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the round object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 block from the drawer Q: immediate next step? \u003cPRED\u003eA: place the round object on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer 5- open the drawer 6- place the triangle on the table 7- place the cuboid on the table 8- close the drawer 9- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the round object on the table\n\u003c/PRED\u003e","video":"1786106311639732304.mp4"}
+{"uid":"5922589298138749629","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":"12124425930646930401.mp4"}
+{"uid":"12485871640947620277","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: close the left door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the left door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the left door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the left door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- place the cup on the table 2- place the lid on the table 3- lift the jar 4- put the Cornflakes in the cup 5- place the jar on table 6- put the lid on the jar 7- place the cup on the  left side of the table 8- open the left door 9- pick up the bottle 10- place the bottle on the table 11- place the lid on the table 12- lift the bottle 13- put the milk in the cup 14- place the bottle on the table 15- lift the bottle 16- put the milk in the cup 17- place the bottle on the table 18- place  the lid on the jar 19- open the left door 20- place the bottle in the Refrigerator Q: immediate next step? \u003cPRED\u003eA: close the left door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- place the cup on the table 2- place the lid on the table 3- lift the jar 4- put the Cornflakes in the cup 5- place the jar on table 6- put the lid on the jar 7- place the cup on the  left side of the table 8- open the left door 9- pick up the bottle 10- place the bottle on the table 11- place the lid on the table 12- lift the bottle 13- put the milk in the cup 14- place the bottle on the table 15- lift the bottle 16- put the milk in the cup 17- place the bottle on the table 18- place  the lid on the jar 19- open the left door 20- place the bottle in the Refrigerator Q: next 5 steps? \u003cPRED\u003eA: 1- close the left door 2- place the cup near the jar 3- place the spoon on the table 4- place the spoon in the cup 5- place the spoon in the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the left door\n\u003c/PRED\u003e","video":"15842749082498740374.mp4"}
+{"uid":"14150615709150864638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink marker 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":"2181111583113994762.mp4"}
+{"uid":"15792750300595591680","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":"18023967078887561518.mp4"}
+{"uid":"6074988800960094104","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":"14152901248484895376.mp4"}
+{"uid":"11159589953646143823","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn of a 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":"11641935459480546736.mp4"}
+{"uid":"14811267052043570239","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":"6269816486925818011.mp4"}
+{"uid":"3865167798818717180","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table 14- lift the bottle 15- put the milk in the cup 16- place the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- lift the bottle 2- put the milk in the cup 3- place the bottle on the table 4- place  the lid on the jar 5- open the left door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table 14- lift the bottle 15- put the milk in the cup 16- place the bottle on the table Q: immediate next step? \u003cPRED\u003eA: lift the bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift the bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: lift the bottle\n\u003c/PRED\u003e","video":"4340288189857627942.mp4"}
+{"uid":"11586719496809937474","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1841564901815377167.mp4"}
+{"uid":"1205993869068946552","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the recycle bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- place the jar on table 2- put the lid on the jar 3- place the cup on the  left side of the table 4- open the left door 5- pick up the bottle 6- place the bottle on the table 7- place the lid on the table 8- lift the bottle 9- put the milk in the cup 10- place the bottle on the table 11- lift the bottle 12- put the milk in the cup 13- place the bottle on the table 14- place  the lid on the jar 15- open the left door 16- place the bottle in the Refrigerator 17- close the left door 18- place the cup near the jar 19- place the spoon on the table 20- place the spoon in the cup Q: immediate next step? \u003cPRED\u003eA: place the spoon in the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- place the jar on table 2- put the lid on the jar 3- place the cup on the  left side of the table 4- open the left door 5- pick up the bottle 6- place the bottle on the table 7- place the lid on the table 8- lift the bottle 9- put the milk in the cup 10- place the bottle on the table 11- lift the bottle 12- put the milk in the cup 13- place the bottle on the table 14- place  the lid on the jar 15- open the left door 16- place the bottle in the Refrigerator 17- close the left door 18- place the cup near the jar 19- place the spoon on the table 20- place the spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the recycle bin 2- place the cup on the table 3- done\n\u003c/PRED\u003e","video":"5550297504509111827.mp4"}
+{"uid":"7670615481358550551","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":"627152202015620486.mp4"}
+{"uid":"1104707422051078018","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen 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":"1449018623805121761.mp4"}
+{"uid":"2392979834251177630","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":"15675180593468659702.mp4"}
+{"uid":"1971745739049939885","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table Q: immediate next step? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid 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 lid on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the table 2- lift the bottle 3- put the milk in the cup 4- place the bottle on the table 5- lift the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e","video":"16110375295948124227.mp4"}
+{"uid":"5414653083015926279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange chocolate 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":"8176733078441603750.mp4"}
+{"uid":"11601872963720076392","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the lid on the jar 2- place the cup on the  left side of the table 3- open the left door 4- pick up the bottle 5- place the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the lid on the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: put the lid on the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the lid on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the lid on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table Q: immediate next step? \u003cPRED\u003eA: put the lid on the jar\n\u003c/PRED\u003e","video":"11487165175670693277.mp4"}
+{"uid":"10637596147500922792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black date on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5700634754514552832.mp4"}
+{"uid":"1860514207773542930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7363045817016737766.mp4"}
+{"uid":"16196210559107354996","text":"\u003ctask:success:discrete:False\u003e\nplace the triangle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the triangle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 triangle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from the drawer Q: immediate next step? \u003cPRED\u003eA: place the triangle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer 5- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the triangle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the triangle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer 5- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the triangle on the table 2- place the cuboid on the table 3- close the drawer 4- open the drawer 5- place the round object on the table\n\u003c/PRED\u003e","video":"15123193449006110055.mp4"}
+{"uid":"12182143096482043260","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup near the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup near the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6704198009006573396.mp4"}
+{"uid":"7813045746986589062","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- put the lid on the jar 2- place the cup on the  left side of the table 3- open the left door 4- pick up the bottle 5- place the bottle on the table 6- place the lid on the table 7- lift the bottle 8- put the milk in the cup 9- place the bottle on the table 10- lift the bottle 11- put the milk in the cup 12- place the bottle on the table 13- place  the lid on the jar 14- open the left door 15- place the bottle in the Refrigerator 16- close the left door 17- place the cup near the jar 18- place the spoon on the table 19- place the spoon in the cup 20- place the spoon in the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- put the lid on the jar 2- place the cup on the  left side of the table 3- open the left door 4- pick up the bottle 5- place the bottle on the table 6- place the lid on the table 7- lift the bottle 8- put the milk in the cup 9- place the bottle on the table 10- lift the bottle 11- put the milk in the cup 12- place the bottle on the table 13- place  the lid on the jar 14- open the left door 15- place the bottle in the Refrigerator 16- close the left door 17- place the cup near the jar 18- place the spoon on the table 19- place the spoon in the cup 20- place the spoon in the recycle bin Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e","video":"18168021983627360524.mp4"}
+{"uid":"5208190319830404063","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer 5- open the drawer 6- place the triangle on the table 7- place the cuboid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- open the drawer 3- place the round object on the table 4- place the circle shape object on the table 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer 5- open the drawer 6- place the triangle on the table 7- place the cuboid on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"8758355129574509462.mp4"}
+{"uid":"9179590624208058696","text":"\u003ctask:success:discrete:False\u003e\nplace the bottle in the Refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the bottle in the Refrigerator\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bottle in the Refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bottle in the Refrigerator\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bottle in the Refrigerator\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- place the Coca Cola bottle on the table 2- place the cup on the table 3- place the lid on the table 4- lift the jar 5- put the Cornflakes in the cup 6- place the jar on table 7- put the lid on the jar 8- place the cup on the  left side of the table 9- open the left door 10- pick up the bottle 11- place the bottle on the table 12- place the lid on the table 13- lift the bottle 14- put the milk in the cup 15- place the bottle on the table 16- lift the bottle 17- put the milk in the cup 18- place the bottle on the table 19- place  the lid on the jar 20- open the left door Q: immediate next step? \u003cPRED\u003eA: place the bottle in the Refrigerator\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- place the Coca Cola bottle on the table 2- place the cup on the table 3- place the lid on the table 4- lift the jar 5- put the Cornflakes in the cup 6- place the jar on table 7- put the lid on the jar 8- place the cup on the  left side of the table 9- open the left door 10- pick up the bottle 11- place the bottle on the table 12- place the lid on the table 13- lift the bottle 14- put the milk in the cup 15- place the bottle on the table 16- lift the bottle 17- put the milk in the cup 18- place the bottle on the table 19- place  the lid on the jar 20- open the left door Q: next 5 steps? \u003cPRED\u003eA: 1- place the bottle in the Refrigerator 2- close the left door 3- place the cup near the jar 4- place the spoon on the table 5- place the spoon in the cup\n\u003c/PRED\u003e","video":"18194469034995173551.mp4"}
+{"uid":"5131543727068054473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8919135320145583876.mp4"}
+{"uid":"16345713712686330066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"993688242799151277.mp4"}
+{"uid":"17620325845216632143","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- put the Cornflakes in the cup 2- place the jar on table 3- put the lid on the jar 4- place the cup on the  left side of the table 5- open the left door 6- pick up the bottle 7- place the bottle on the table 8- place the lid on the table 9- lift the bottle 10- put the milk in the cup 11- place the bottle on the table 12- lift the bottle 13- put the milk in the cup 14- place the bottle on the table 15- place  the lid on the jar 16- open the left door 17- place the bottle in the Refrigerator 18- close the left door 19- place the cup near the jar 20- place the spoon on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the cup 2- place the spoon in the recycle bin 3- place the cup on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- put the Cornflakes in the cup 2- place the jar on table 3- put the lid on the jar 4- place the cup on the  left side of the table 5- open the left door 6- pick up the bottle 7- place the bottle on the table 8- place the lid on the table 9- lift the bottle 10- put the milk in the cup 11- place the bottle on the table 12- lift the bottle 13- put the milk in the cup 14- place the bottle on the table 15- place  the lid on the jar 16- open the left door 17- place the bottle in the Refrigerator 18- close the left door 19- place the cup near the jar 20- place the spoon on the table Q: immediate next step? \u003cPRED\u003eA: place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoon on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the spoon 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":"15723817820306678800.mp4"}
+{"uid":"6274677177304730378","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- open the drawer 3- place the triangle on the table 4- place the cuboid on the table 5- close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2688436771823031444.mp4"}
+{"uid":"13669933443743192713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2222964123558820107.mp4"}
+{"uid":"7136121066355467095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the   tongs\n in the spoon 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":"16284981389202367394.mp4"}
+{"uid":"16679877597653041899","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the circle shape object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 block from the drawer Q: immediate next step? \u003cPRED\u003eA: place the circle shape object on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the circle shape object on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer 5- open the drawer 6- place the triangle on the table 7- place the cuboid on the table 8- close the drawer 9- open the drawer 10- place the round object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the circle shape object on the table 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 circle shape object on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer 5- open the drawer 6- place the triangle on the table 7- place the cuboid on the table 8- close the drawer 9- open the drawer 10- place the round object on the table Q: immediate next step? \u003cPRED\u003eA: place the circle shape object on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the circle shape object 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":"12486943572376214347.mp4"}
+{"uid":"1665657473666032385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in left glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16723621052403813004.mp4"}
+{"uid":"5533675687653687559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue 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":"2611341149735433600.mp4"}
+{"uid":"6550370070525314557","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":"6367438387555906707.mp4"}
+{"uid":"16242463223585883280","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: 1- place the tray on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen holder on the table 2- close the door 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen holder on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: 1- place the tray on the table Q: immediate next step? \u003cPRED\u003eA: place the pen holder on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen holder on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen holder on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out Q: immediate next step? \u003cPRED\u003eA: place the pen holder on the table\n\u003c/PRED\u003e","video":"9474616771073518740.mp4"}
+{"uid":"4061144704450775250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet in the bucket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"557481036002530292.mp4"}
+{"uid":"13725760055208181503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5295658584245380706.mp4"}
+{"uid":"2173382889384943940","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cube shape on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cube shape on the table 2- close the drawer 3- open the drawer 4- place the triangle on the table 5- place the cuboid on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cube shape on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 block from the drawer Q: immediate next step? \u003cPRED\u003eA: place the cube shape on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table Q: immediate next step? \u003cPRED\u003eA: place the cube shape on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cube shape 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 cube shape on the table\n\u003c/PRED\u003e","video":"17027859842787111410.mp4"}
+{"uid":"10912984958618617888","text":"\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 remove the block from the 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 remove the block from the 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 remove the block from the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer 5- 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":"12867759153279028804.mp4"}
+{"uid":"18050356653026372121","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tray on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 tray on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tray 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 tray on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the tray on the table 2- place the pen holder on the table 3- close the door 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out Q: immediate next step? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e","video":"1382388661945371508.mp4"}
+{"uid":"11443002490553495714","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5271963941566287793.mp4"}
+{"uid":"14609883395303818744","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13538376422985527436.mp4"}
+{"uid":"3200421146139412977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the white snack pack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8082980821526278123.mp4"}
+{"uid":"17754894154976010301","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":"5098842010892500994.mp4"}
+{"uid":"8414491040457868030","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- place the cup on the  left side of the table 2- open the left door 3- pick up the bottle 4- place the bottle on the table 5- place the lid on the table 6- lift the bottle 7- put the milk in the cup 8- place the bottle on the table 9- lift the bottle 10- put the milk in the cup 11- place the bottle on the table 12- place  the lid on the jar 13- open the left door 14- place the bottle in the Refrigerator 15- close the left door 16- place the cup near the jar 17- place the spoon on the table 18- place the spoon in the cup 19- place the spoon in the recycle bin 20- place the cup 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 bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- place the cup on the  left side of the table 2- open the left door 3- pick up the bottle 4- place the bottle on the table 5- place the lid on the table 6- lift the bottle 7- put the milk in the cup 8- place the bottle on the table 9- lift the bottle 10- put the milk in the cup 11- place the bottle on the table 12- place  the lid on the jar 13- open the left door 14- place the bottle in the Refrigerator 15- close the left door 16- place the cup near the jar 17- place the spoon on the table 18- place the spoon in the cup 19- place the spoon in the recycle bin 20- place the cup on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e","video":"3399918122394152307.mp4"}
+{"uid":"7554913183473040274","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":"5522080962361450800.mp4"}
+{"uid":"11472103348005223128","text":"\u003ctask:success:discrete:True\u003e\nclose 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:planning:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: 1- place the tray on the table 2- place the pen holder on the table 3- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: 1- place the tray on the table 2- place the pen holder on the table 3- close the door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17901685471504599945.mp4"}
+{"uid":"90548215194904170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12768769723573363090.mp4"}
+{"uid":"4202469312700080816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the redbull can in left 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":"10789868914687810608.mp4"}
+{"uid":"15981280198097908811","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the 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":"15576983495167944168.mp4"}
+{"uid":"7600677284407549788","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from 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:False\u003e\npick up hint 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the triangle on the table 3- place the cuboid on the table 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\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 remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"10621909997638451918.mp4"}
+{"uid":"3992215953295251380","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8611107542637481421.mp4"}
+{"uid":"11874291312204565536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3720913851407738806.mp4"}
+{"uid":"4297037382735441042","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: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 remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer 5- open the drawer 6- place the triangle on the table 7- place the cuboid on the table 8- close the drawer 9- open the drawer 10- place the round object on the table 11- place the circle shape object on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from 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 remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer 5- open the drawer 6- place the triangle on the table 7- place the cuboid on the table 8- close the drawer 9- open the drawer 10- place the round object on the table 11- place the circle shape object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e","video":"862398398312189341.mp4"}
+{"uid":"13764579847534883295","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tray 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":"13468275213108809068.mp4"}
+{"uid":"4423463317728965425","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer 5- open the drawer 6- place the triangle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cuboid on the table 2- close the drawer 3- open the drawer 4- place the round object on the table 5- place the circle shape object on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cuboid 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 cuboid on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from the drawer Q: immediate next step? \u003cPRED\u003eA: place the cuboid on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cuboid on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cuboid on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer 5- open the drawer 6- place the triangle on the table Q: immediate next step? \u003cPRED\u003eA: place the cuboid on the table\n\u003c/PRED\u003e","video":"17922419684617056710.mp4"}
+{"uid":"17500673547678627854","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid 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 lid on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the table 2- lift the jar 3- put the Cornflakes in the cup 4- place the jar on table 5- put the lid on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lid on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table Q: immediate next step? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e","video":"4795993525593367229.mp4"}
+{"uid":"17873098751549341280","text":"\u003ctask:success:discrete:True\u003e\nplace the spoon in the recycle bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoon in the recycle bin\n\u003c/PRED\u003e","video":"18260491596954427294.mp4"}
+{"uid":"17799799222587176736","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":"8073016553799733476.mp4"}
+{"uid":"3194735647564834737","text":"\u003ctask:success:discrete:True\u003e\nplace the Coca Cola 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 Coca Cola bottle on the table\n\u003c/PRED\u003e","video":"6786873056556551243.mp4"}
+{"uid":"11268173976850931347","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place  the lid on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace  the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7250747155717331039.mp4"}
+{"uid":"15255202387977838749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spatula on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13687654529070451226.mp4"}
+{"uid":"7746253394403718060","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the circle shape object on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the circle shape object 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":"10450133791669731492.mp4"}
+{"uid":"17082377647832895916","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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:success:discrete:False\u003e\npick up 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door Q: immediate next step? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bottle 2- place the bottle on the table 3- place the lid on the table 4- lift the bottle 5- put the milk in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: pick up the bottle\n\u003c/PRED\u003e","video":"10850677773963790076.mp4"}
+{"uid":"8098273554477414671","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup on the  left side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the cup on the  left side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup on the  left side of the table 2- open the left door 3- pick up the bottle 4- place the bottle on the table 5- place the lid on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup on the  left side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup on the  left side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar Q: immediate next step? \u003cPRED\u003eA: place the cup on the  left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup on the  left side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8734667168190182419.mp4"}
+{"uid":"15762974395147495924","text":"\u003ctask:success:discrete:False\u003e\nplace the diamond shape 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 diamond shape on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the diamond shape on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from the drawer Q: immediate next step? \u003cPRED\u003eA: place the diamond shape on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the diamond shape on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 diamond shape on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the diamond shape on the table 2- place the cube shape on the table 3- close the drawer 4- open the drawer 5- place the triangle on the table\n\u003c/PRED\u003e","video":"15538730315636154244.mp4"}
+{"uid":"4960185585830483699","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift 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:success:discrete:False\u003e\nlift 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- lift the bottle 2- put the milk in the cup 3- place the bottle on the table 4- lift the bottle 5- put the milk in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: lift the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table Q: immediate next step? \u003cPRED\u003eA: lift the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the bottle\n\u003c/PRED\u003e","video":"15706059985614115925.mp4"}
+{"uid":"2139244515688733425","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the spoon on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- lift the jar 2- put the Cornflakes in the cup 3- place the jar on table 4- put the lid on the jar 5- place the cup on the  left side of the table 6- open the left door 7- pick up the bottle 8- place the bottle on the table 9- place the lid on the table 10- lift the bottle 11- put the milk in the cup 12- place the bottle on the table 13- lift the bottle 14- put the milk in the cup 15- place the bottle on the table 16- place  the lid on the jar 17- open the left door 18- place the bottle in the Refrigerator 19- close the left door 20- place the cup near the jar Q: immediate next step? \u003cPRED\u003eA: place the spoon on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon 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 spoon on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- lift the jar 2- put the Cornflakes in the cup 3- place the jar on table 4- put the lid on the jar 5- place the cup on the  left side of the table 6- open the left door 7- pick up the bottle 8- place the bottle on the table 9- place the lid on the table 10- lift the bottle 11- put the milk in the cup 12- place the bottle on the table 13- lift the bottle 14- put the milk in the cup 15- place the bottle on the table 16- place  the lid on the jar 17- open the left door 18- place the bottle in the Refrigerator 19- close the left door 20- place the cup near the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon on the table 2- place the spoon in the cup 3- place the spoon in the recycle bin 4- place the cup on the table 5- done\n\u003c/PRED\u003e","video":"3722099984365736124.mp4"}
+{"uid":"6305414295667588481","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the Cornflakes in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: put the Cornflakes in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the Cornflakes in the cup 2- place the jar on table 3- put the lid on the jar 4- place the cup on the  left side of the table 5- open the left door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the Cornflakes 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 Cornflakes 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 Cornflakes in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar Q: immediate next step? \u003cPRED\u003eA: put the Cornflakes in the cup\n\u003c/PRED\u003e","video":"4542046743938284639.mp4"}
+{"uid":"3329087409695759880","text":"\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from 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: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 remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer 5- open the drawer 6- place the triangle on the table 7- place the cuboid on the table 8- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the round object on the table 3- place the circle shape object on the table 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the diamond shape on the table 3- place the cube shape on the table 4- close the drawer 5- open the drawer 6- place the triangle on the table 7- place the cuboid on the table 8- close the drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"5192242800666010460.mp4"}
+{"uid":"12970218375177494838","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup Q: immediate next step? \u003cPRED\u003eA: place the jar on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the jar on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the jar on table 2- put the lid on the jar 3- place the cup on the  left side of the table 4- open the left door 5- pick up the bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the jar on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the jar on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the jar on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the jar on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10384478017785780461.mp4"}
+{"uid":"1684812653834756415","text":"\u003ctask:success:discrete:False\u003e\nopen the left side of 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 left side of door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the left side of 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: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: open the left side of door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the left side of door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the left side of door\n\u003c/PRED\u003e","video":"16273937298310021454.mp4"}
+{"uid":"11243464080068788236","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e\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: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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup on the table 2- place the lid on the table 3- lift the jar 4- put the Cornflakes in the cup 5- place the jar on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e","video":"10653347366670170421.mp4"}
+{"uid":"12372392084587514403","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in big 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":"14755657453024423185.mp4"}
+{"uid":"6144594452699739465","text":"\u003ctask:success:discrete:False\u003e\nplace the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle Q: immediate next step? \u003cPRED\u003eA: place the 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 bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- place the bottle on the table 2- place the lid on the table 3- lift the bottle 4- put the milk in the cup 5- place the bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8397027845415241026.mp4"}
+{"uid":"15398624000982703102","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12985638260812098610.mp4"}
+{"uid":"4518752898038381094","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic spoon in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"975195354219308657.mp4"}
+{"uid":"3897038212343127684","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table 14- lift the bottle 15- put the milk in the cup 16- place the bottle on the table 17- lift the bottle 18- put the milk in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the bottle on the table 2- place  the lid on the jar 3- open the left door 4- place the bottle in the Refrigerator 5- close the left door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table 14- lift the bottle 15- put the milk in the cup 16- place the bottle on the table 17- lift the bottle 18- put the milk in the cup Q: immediate next step? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12757902931855534761.mp4"}
+{"uid":"8672913717840939181","text":"\u003ctask:success:discrete:True\u003e\nplace the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e","video":"5488128122232344454.mp4"}
+{"uid":"5125093552729798252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"647200178074860281.mp4"}
+{"uid":"305477283138475147","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup near the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup near the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the cup near the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- place the lid on the table 2- lift the jar 3- put the Cornflakes in the cup 4- place the jar on table 5- put the lid on the jar 6- place the cup on the  left side of the table 7- open the left door 8- pick up the bottle 9- place the bottle on the table 10- place the lid on the table 11- lift the bottle 12- put the milk in the cup 13- place the bottle on the table 14- lift the bottle 15- put the milk in the cup 16- place the bottle on the table 17- place  the lid on the jar 18- open the left door 19- place the bottle in the Refrigerator 20- close the left door Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup near the jar 2- place the spoon on the table 3- place the spoon in the cup 4- place the spoon in the recycle bin 5- place the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup near the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- place the lid on the table 2- lift the jar 3- put the Cornflakes in the cup 4- place the jar on table 5- put the lid on the jar 6- place the cup on the  left side of the table 7- open the left door 8- pick up the bottle 9- place the bottle on the table 10- place the lid on the table 11- lift the bottle 12- put the milk in the cup 13- place the bottle on the table 14- lift the bottle 15- put the milk in the cup 16- place the bottle on the table 17- place  the lid on the jar 18- open the left door 19- place the bottle in the Refrigerator 20- close the left door Q: immediate next step? \u003cPRED\u003eA: place the cup near the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup near the jar\n\u003c/PRED\u003e","video":"10865467833409392555.mp4"}
+{"uid":"11267934926311732582","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the milk in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the milk in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table 14- lift the bottle 15- put the milk in the cup 16- place the bottle on the table 17- lift the bottle Q: immediate next step? \u003cPRED\u003eA: put the milk in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: put the milk in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the milk in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table 14- lift the bottle 15- put the milk in the cup 16- place the bottle on the table 17- lift the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- put the milk in the cup 2- place the bottle on the table 3- place  the lid on the jar 4- open the left door 5- place the bottle in the Refrigerator\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the milk in the cup\n\u003c/PRED\u003e","video":"8499260280993861072.mp4"}
+{"uid":"15872967872320536400","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nlift the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table Q: immediate next step? \u003cPRED\u003eA: lift the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: lift the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- lift the jar 2- put the Cornflakes in the cup 3- place the jar on table 4- put the lid on the jar 5- place the cup on the  left side of the table\n\u003c/PRED\u003e","video":"9974870798553678654.mp4"}
+{"uid":"5448878293379860419","text":"\u003ctask:success:discrete:True\u003e\nplace the cup on the  left side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup on the  left side of the table\n\u003c/PRED\u003e","video":"2673435782379747321.mp4"}
+{"uid":"489655951265113062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9186872328805182331.mp4"}
+{"uid":"16656409167680676790","text":"\u003ctask:success:discrete:True\u003e\nput the milk in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the milk in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table 14- lift the bottle 15- put the milk in the cup Q: immediate next step? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table 14- lift the bottle 15- put the milk in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the bottle on the table 2- lift the bottle 3- put the milk in the cup 4- place the bottle on the table 5- place  the lid on the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bottle on the table\n\u003c/PRED\u003e","video":"15612203257213719250.mp4"}
+{"uid":"8803220530610123583","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the white cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4503178861543593573.mp4"}
+{"uid":"8983086301383138066","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: 1- place the tray on the table 2- place the pen holder on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: 1- place the tray on the table 2- place the pen holder on the table Q: immediate next step? \u003cPRED\u003eA: close the door\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: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: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","video":"9525480383858338127.mp4"}
+{"uid":"2269300426259295157","text":"\u003ctask:success:discrete:False\u003e\nplace the Coca Cola 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: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the Coca Cola 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 Coca Cola bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the Coca Cola 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 Coca Cola bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door Q: next 5 steps? \u003cPRED\u003eA: 1- place the Coca Cola bottle on the table 2- place the cup on the table 3- place the lid on the table 4- lift the jar 5- put the Cornflakes in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door Q: immediate next step? \u003cPRED\u003eA: place the Coca Cola bottle on the table\n\u003c/PRED\u003e","video":"13727367063077883227.mp4"}
+{"uid":"14568549760815683493","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the left door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the left door 2- pick up the bottle 3- place the bottle on the table 4- place the lid on the table 5- lift the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: open the left door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the left door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the left door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the left door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table Q: immediate next step? \u003cPRED\u003eA: open the left door\n\u003c/PRED\u003e","video":"9250001096932595488.mp4"}
+{"uid":"16775255197789048668","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":"16551756505203139569.mp4"}
+{"uid":"16827944463668858235","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table 14- lift the bottle 15- put the milk in the cup 16- place the bottle on the table 17- lift the bottle 18- put the milk in the cup 19- place the bottle on the table 20- place  the lid on the jar Q: next 5 steps? \u003cPRED\u003eA: 1- open the left door 2- place the bottle in the Refrigerator 3- close the left door 4- place the cup near the jar 5- place the spoon on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. last 20 steps: 1- open the left side of door 2- place the Coca Cola bottle on the table 3- place the cup on the table 4- place the lid on the table 5- lift the jar 6- put the Cornflakes in the cup 7- place the jar on table 8- put the lid on the jar 9- place the cup on the  left side of the table 10- open the left door 11- pick up the bottle 12- place the bottle on the table 13- place the lid on the table 14- lift the bottle 15- put the milk in the cup 16- place the bottle on the table 17- lift the bottle 18- put the milk in the cup 19- place the bottle on the table 20- place  the lid on the jar Q: immediate next step? \u003cPRED\u003eA: open the left door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the left door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the left door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the left door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the left door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring me a mexican coke from the fridge and then prepare a bowl of ceral and bring it to my table in mk. Q: immediate next step? \u003cPRED\u003eA: open the left door\n\u003c/PRED\u003e","video":"16239644662119826353.mp4"}
+{"uid":"2971869644362390623","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tray on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4941321994726741856.mp4"}
+{"uid":"6122485005771668737","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pipcorn 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- place packet on table 2- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pipcorn packet on the table 2- place packet on table 3- put the nacho packet on the table 4- place packet on table 5- place packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 2- place packet on table Q: immediate next step? \u003cPRED\u003eA: put the pipcorn packet on the table\n\u003c/PRED\u003e","video":"1791435894561840156.mp4"}
+{"uid":"12970905728261853098","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a fork into a bowl then bring it to my table. last 20 steps: 1- Put the bowl upright on the counter Q: immediate next step? \u003cPRED\u003eA: Put the forks in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the forks in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the forks in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a fork into a bowl then bring it to my table Q: immediate next step? \u003cPRED\u003eA: Put the forks in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a fork into a bowl then bring it to my table. last 20 steps: 1- Put the bowl upright on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- Put the forks in the bowl 2- Put the bowl on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the forks in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the forks 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":"6866189539739932447.mp4"}
+{"uid":"12659491213462622115","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place a fork into a bowl then bring it to my table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a fork into a bowl then bring it to my table. last 20 steps: 1- Put the bowl upright on the counter 2- Put the forks in the bowl 3- Put the bowl on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a fork into a bowl then bring it to my table. last 20 steps: 1- Put the bowl upright on the counter 2- Put the forks in the bowl 3- Put the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"13799141435428732426.mp4"}
+{"uid":"5641819433346346722","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7300053675940393565.mp4"}
+{"uid":"10223792008623611813","text":"\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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table 6- place packet on table 7- place packet on table 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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table 6- place packet on table 7- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the nacho 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: 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","video":"16035416436122906347.mp4"}
+{"uid":"417859611819038460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the book on the table from rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6490773836573495583.mp4"}
+{"uid":"16256841600648255426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the mini steel glass in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3740437095593632832.mp4"}
+{"uid":"508747694123180049","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on 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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table 6- place packet on table Q: immediate next step? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on 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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table 6- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on table 2- put the nacho packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e","video":"13211055884080555775.mp4"}
+{"uid":"8122383742566036424","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\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","video":"4843837619593487764.mp4"}
+{"uid":"13607194604472474709","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":"8451474065316901317.mp4"}
+{"uid":"14875321035795604392","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 2- place packet on table 3- put the pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pipcorn packet on the table 2- put the nacho packet on the table 3- place packet on table 4- place packet on table 5- 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 pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put the pipcorn 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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pipcorn packet on the table\n\u003c/PRED\u003e","video":"17827416391449524185.mp4"}
+{"uid":"18222994685346807364","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet 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":"4200810776475630603.mp4"}
+{"uid":"5166834159954498809","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table 6- place packet on table 7- place packet on table Q: immediate next step? \u003cPRED\u003eA: put the popcorn packet on the bench\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 popcorn packet on the bench\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn packet on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn packet on the bench\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the popcorn packet on the bench\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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table 6- place packet on table 7- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn packet on the bench 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the popcorn packet on the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2991319754712861872.mp4"}
+{"uid":"6969288888161879197","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange candy in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4980124089864670688.mp4"}
+{"uid":"3729866808535794170","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table 6- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the nacho packet on the table 2- put the nacho packet on the table 3- 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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table 6- place packet on table 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: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","video":"565312993568465451.mp4"}
+{"uid":"2108289454072054118","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the white object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14850933435318586251.mp4"}
+{"uid":"1052780902716131274","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":"10212325324034836645.mp4"}
+{"uid":"12177573861820152100","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the bench\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet on the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet on the bench 2- place packet on table 3- place packet on table 4- put the nacho packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the bench\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet on the bench\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet on the bench\n\u003c/PRED\u003e","video":"14764099867177620172.mp4"}
+{"uid":"15429757138450948877","text":"\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 popcorn packet on the bench 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- 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 popcorn packet on the bench\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 popcorn packet on the bench\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the popcorn packet on the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn packet on the bench\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the popcorn packet on the bench\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn packet on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16267386642975593873.mp4"}
+{"uid":"10263434707587035992","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pipcorn 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 pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 pipcorn packet on the table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pipcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pipcorn packet on the table\n\u003c/PRED\u003e","video":"472302454047658508.mp4"}
+{"uid":"7784375806878723840","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candy in the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15865883622955830278.mp4"}
+{"uid":"6946738077218815400","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on 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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table Q: immediate next step? \u003cPRED\u003eA: place packet on 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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on table 2- place packet on table 3- place packet on table 4- put the nacho 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: place packet on 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: place packet on table\n\u003c/PRED\u003e","video":"8493837100828222019.mp4"}
+{"uid":"14996341383938802155","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"558518834484214509.mp4"}
+{"uid":"3489660414350004117","text":"\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: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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the nacho packet on the table 2- place packet on table 3- put the nacho packet on the table 4- done\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e","video":"12006018392141096727.mp4"}
+{"uid":"15812239454870796987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packets in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"575529652600007957.mp4"}
+{"uid":"3049741373585990829","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl upright on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl upright on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl upright on the counter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a fork into a bowl then bring it to my table Q: immediate next step? \u003cPRED\u003eA: Put the bowl upright on the counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl upright on the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a fork into a bowl then bring it to my table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl upright on the counter 2- Put the forks in the bowl 3- Put the bowl on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a fork into a bowl then bring it to my table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the bowl upright on the counter\n\u003c/PRED\u003e","video":"607843960759623311.mp4"}
+{"uid":"5244084657221848706","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7202500895617157150.mp4"}
+{"uid":"15729145522836867864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove packet 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":"404429846593662506.mp4"}
+{"uid":"11011259031701392957","text":"\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: place packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- 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: place packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e","video":"7196200718478582988.mp4"}
+{"uid":"14351605871495382575","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the forks in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the forks 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":"15583954744738688841.mp4"}
+{"uid":"967025701989083052","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet 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 packet on 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: place packet on 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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on 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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on table 2- place packet on table 3- put the nacho packet on the table 4- done\n\u003c/PRED\u003e","video":"4357135475363003449.mp4"}
+{"uid":"15900927712717660454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6635674073336005519.mp4"}
+{"uid":"9429971853893095629","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet on the bench\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet on the bench\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet on the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet on the bench 2- put the nacho packet on the table 3- 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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the bench\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 brown packet on the bench\n\u003c/PRED\u003e","video":"8806201699275859726.mp4"}
+{"uid":"12948650604611596954","text":"\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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the nacho packet on the table 2- put the pipcorn packet on the table 3- place packet on table 4- put the nacho packet on the table 5- place packet on table\n\u003c/PRED\u003e","video":"5809398165318379569.mp4"}
+{"uid":"2376363068774772536","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet 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":"13468020871752912291.mp4"}
+{"uid":"17276566872069892334","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet 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":"2303481143181238450.mp4"}
+{"uid":"11592864730772093328","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on 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: place packet on 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- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on table 2- put the pipcorn packet on the table 3- place packet on table 4- put the nacho packet on the table 5- place packet on 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- place packet on table Q: immediate next step? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12636493066132705013.mp4"}
+{"uid":"6354801554901588278","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":"430287274234339765.mp4"}
+{"uid":"5463623712811349359","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 2- place packet on table 3- put the pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn packet on the bench 2- put the nacho packet on the table 3- place packet on table 4- place packet on table 5- 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 popcorn packet on the bench\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn packet on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: put the popcorn packet on the bench\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 popcorn packet on the bench\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn packet on the bench\n\u003c/PRED\u003e","video":"7457310677219753003.mp4"}
+{"uid":"11740585776271379042","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the snacks from the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the bench\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet on the bench\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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table 6- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet on the bench 2- put the nacho packet on the table 3- 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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table 6- place packet on table Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the bench\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet on the bench\n\u003c/PRED\u003e","video":"5476333028628342294.mp4"}
+{"uid":"11753791009851874331","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the nacho packet on the table\n\u003c/PRED\u003e\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","video":"7549762740076027383.mp4"}
+{"uid":"11827877257541409744","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 2- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on table 2- place packet on table 3- put the nacho packet on the table 4- place packet on table 5- place packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on 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: place packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 2- place packet on table Q: immediate next step? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e","video":"9137410680808197099.mp4"}
+{"uid":"8043765999847271263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace snacks from left bowl to 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":"4035060559490951614.mp4"}
+{"uid":"1909943679249947251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3027214888411622067.mp4"}
+{"uid":"10224194000518994","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"17747958439983182462.mp4"}
+{"uid":"11265515542418034798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13994692755596320932.mp4"}
+{"uid":"643630262659005551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10364796886482859949.mp4"}
+{"uid":"1149820351687681839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the Ethernet shield box into the 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":"9890860965812026977.mp4"}
+{"uid":"5552271178817486423","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the bowl upright on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the bowl upright on the counter Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9291528037107279483.mp4"}
+{"uid":"3415967836108734786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the rold gold 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":"17305577503368399375.mp4"}
+{"uid":"18214202576186666998","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 2- place packet on table 3- put the pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 2- place packet on table 3- put the pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on table 2- put the nacho packet on the table 3- place packet on table 4- place packet on table 5- 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: place packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e","video":"3137126802256979135.mp4"}
+{"uid":"7215900328098853454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn the packet straight Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8166695686827607114.mp4"}
+{"uid":"16029857951482192836","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17181963465474708560.mp4"}
+{"uid":"12343296749376220777","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet on the bench\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packet on the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9626272046407390774.mp4"}
+{"uid":"1612344108127407293","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: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: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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the nacho packet on the table 2- place packet on table 3- place packet on table 4- put the nacho packet on the table 5- 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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table Q: immediate next step? \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","video":"9504405271566746523.mp4"}
+{"uid":"2610999702157592589","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place a fork into a bowl then bring it to my table Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place a fork into a bowl then bring it to my table. last 20 steps: 1- Put the bowl upright on the counter 2- Put the forks in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place a fork into a bowl then bring it to my table. last 20 steps: 1- Put the bowl upright on the counter 2- Put the forks in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl on the table 2- done\n\u003c/PRED\u003e","video":"9666740831298896037.mp4"}
+{"uid":"2153438269410754104","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14778116131051217700.mp4"}
+{"uid":"10398850551964414932","text":"\u003ctask:success:discrete:False\u003e\nput the brown packet on the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet on the bench\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- place packet on table Q: immediate next step? \u003cPRED\u003eA: put the brown packet on the bench\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet on the bench 2- put the pipcorn packet on the table 3- place packet on table 4- put the nacho packet on the table 5- place packet on 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 brown packet on the bench\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet on the bench\n\u003c/PRED\u003e","video":"14662556821776184778.mp4"}
+{"uid":"8986998195672551454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the wire inside Pop up box electrical cable cubby 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":"12871820975245174836.mp4"}
+{"uid":"5586627817090009663","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on 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: place packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on 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- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table 6- place packet on table 7- place packet on table Q: immediate next step? \u003cPRED\u003eA: place packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 2- place packet on table 3- put the pipcorn packet on the table 4- place packet on table 5- put the nacho packet on the table 6- place packet on table 7- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on table 2- done\n\u003c/PRED\u003e","video":"15678384722917719394.mp4"}
+{"uid":"12258245997235180475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange 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":"13080937688466799216.mp4"}
+{"uid":"17036489037963817425","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the snacks from the tray. last 20 steps: 1- place packet on table 2- place packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn packet on the bench 2- put the nacho packet on the table 3- place packet on table 4- place packet on table 5- put the nacho packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn packet on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn packet on the bench\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 popcorn packet on the bench\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- place packet on table 2- place packet on table Q: immediate next step? \u003cPRED\u003eA: put the popcorn packet on the bench\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the popcorn packet on the bench Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 popcorn packet on the bench\n\u003c/PRED\u003e","video":"7312097015528915596.mp4"}
+{"uid":"10790131642211604984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the white glass on the black table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2136978171946235543.mp4"}
+{"uid":"8379360228478449225","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":"15973934773109551567.mp4"}
+{"uid":"5816447037820589779","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a packet in tray 2- done\n\u003c/PRED\u003e","video":"17105671653557456381.mp4"}
+{"uid":"10517564363159882956","text":"\u003ctask:success:discrete:True\u003e\nplace a packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e","video":"743447221346427491.mp4"}
+{"uid":"336787391679919053","text":"\u003ctask:success:discrete:True\u003e\nplace the orange packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange packet into the tray\n\u003c/PRED\u003e","video":"12425982530267551302.mp4"}
+{"uid":"1829709699454461884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the rod Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6955185967200205418.mp4"}
+{"uid":"5497013093860011971","text":"\u003ctask:success:discrete:True\u003e\nplace a white packet in white 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 a white packet in white tray\n\u003c/PRED\u003e","video":"4891919229842436285.mp4"}
+{"uid":"17950586776253732835","text":"\u003ctask:success:discrete:True\u003e\nplace a white packet in white 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 a white packet in white tray\n\u003c/PRED\u003e","video":"18316068378178447499.mp4"}
+{"uid":"1885894644174163251","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white packet in white 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 a white packet in white tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white packet in white tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place a white packet in white tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a white packet in white tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a white packet in white tray 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"13045014222817074945.mp4"}
+{"uid":"1918427903749846592","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the bowl 2- done\n\u003c/PRED\u003e","video":"15089563895325208919.mp4"}
+{"uid":"4124298067724059495","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"3864569434281511223.mp4"}
+{"uid":"7856691744960548440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the cup into the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10800462340804240416.mp4"}
+{"uid":"6454970699280567991","text":"\u003ctask:success:discrete:True\u003e\nplace a white chpped spoon in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e","video":"12429104109789724851.mp4"}
+{"uid":"18103937075045083433","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"8200741281234401141.mp4"}
+{"uid":"14130803119330954697","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8020775050798454617.mp4"}
+{"uid":"748654909807276084","text":"\u003ctask:success:discrete:True\u003e\nplace a white chpped spoon in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e","video":"12097550444491446827.mp4"}
+{"uid":"5630742647604673147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4491531056163044750.mp4"}
+{"uid":"10939456464525142315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7483975053165748554.mp4"}
+{"uid":"15353477540411553417","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":"9404596566966882880.mp4"}
+{"uid":"14846997431223385891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nFlip the page Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11643493136586853645.mp4"}
+{"uid":"2316434715990745001","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3450107976103448042.mp4"}
+{"uid":"11808190682787638437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"5959031858548113169.mp4"}
+{"uid":"3127769957183329287","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the bowl 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"2767209407561926609.mp4"}
+{"uid":"11289293798308584430","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"15782910111354322694.mp4"}
+{"uid":"17898217341865055630","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the black packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the black packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the black packet into the tray 2- put the orange white packet in the bowl 3- put the popcorn packet in the bowl 4- put the popcorn packet in the bowl 5- done\n\u003c/PRED\u003e","video":"356241041966641646.mp4"}
+{"uid":"6367761852045395521","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a black packet in white 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 a black packet in white tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a black packet in white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a black packet in white tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place a black packet in white tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a black packet in white tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a black packet in white tray 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"2571126152591972751.mp4"}
+{"uid":"3870932527572006223","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown 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":"9524954198195146517.mp4"}
+{"uid":"3555462925801167832","text":"\u003ctask:success:discrete:True\u003e\nplace a packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e","video":"5282889928507780334.mp4"}
+{"uid":"13584848052386036025","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a packet in tray 2- put the popcorn packet in the bowl 3- done\n\u003c/PRED\u003e","video":"1641285494424721454.mp4"}
+{"uid":"3770557351739217698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy ball in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4031771830697517378.mp4"}
+{"uid":"14161249733662016724","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white packet in white 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 a white packet in white tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white packet in white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a white packet in white tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place a white packet in white tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a white packet in white tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a white packet in white tray 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"2204032901109257853.mp4"}
+{"uid":"6256938642631031990","text":"\u003ctask:success:discrete:True\u003e\nplace fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e","video":"13193543795569392728.mp4"}
+{"uid":"1655593928750883502","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":"11003542842229202487.mp4"}
+{"uid":"11610164445162340956","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4562093215683218687.mp4"}
+{"uid":"1688875784983104649","text":"\u003ctask:success:discrete:True\u003e\nplace a packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- place a packet in tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- place a packet in tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"116218943503983903.mp4"}
+{"uid":"13991835297500669086","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white chpped spoon in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a white chpped spoon in stand 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"8961965550109699200.mp4"}
+{"uid":"17435877269728269003","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":"10473160059651697896.mp4"}
+{"uid":"11767205977483208647","text":"\u003ctask:success:discrete:True\u003e\nput the fork in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the stand 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"8579806121334394954.mp4"}
+{"uid":"4867756234821921791","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: place the packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the tray 2- put the popcorn packet in the bowl 3- done\n\u003c/PRED\u003e","video":"11888445912588885157.mp4"}
+{"uid":"13856465425273237840","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the orange packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder Q: immediate next step? \u003cPRED\u003eA: place the orange packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet into the tray 2- put the popcorn packet in the bowl 3- put the popcorn packet in the bowl 4- done\n\u003c/PRED\u003e","video":"3417617261824940108.mp4"}
+{"uid":"5579179686491954242","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the white packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the white packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet into the tray 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"18086846323726158414.mp4"}
+{"uid":"3959732689060005005","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red 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":"15316299181533758315.mp4"}
+{"uid":"11403630393916534855","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the black packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the black packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the black packet into the tray 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"3983968470466707928.mp4"}
+{"uid":"7142908271137132113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9744517823867687958.mp4"}
+{"uid":"10031581236806600147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the Ethernet shield 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":"9926545164280674370.mp4"}
+{"uid":"9714199601437159264","text":"\u003ctask:success:discrete:True\u003e\nplace the black packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black packet into the tray\n\u003c/PRED\u003e","video":"7368822650521839955.mp4"}
+{"uid":"1675293191196207346","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":"10091817094340318316.mp4"}
+{"uid":"2328816992686720764","text":"\u003ctask:success:discrete:True\u003e\nput the fork in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e","video":"8737888153188747636.mp4"}
+{"uid":"12433947786141998489","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove 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":"16872779084847413137.mp4"}
+{"uid":"1982877225369869101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1489005475418813946.mp4"}
+{"uid":"13872108019283729188","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the white packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the white packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet into the tray 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"10166345833524046211.mp4"}
+{"uid":"14225508066031893832","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pista into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10341511289344269301.mp4"}
+{"uid":"2472834297628318998","text":"\u003ctask:success:discrete:True\u003e\nplace a white chpped spoon in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e","video":"12446965711477615062.mp4"}
+{"uid":"11444489293851750180","text":"\u003ctask:success:discrete:True\u003e\nput the orange white packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange white packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the popcorn packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the popcorn packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the popcorn packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the popcorn packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn packet in the bowl 2- put the popcorn packet in the bowl 3- done\n\u003c/PRED\u003e","video":"9799271518588002532.mp4"}
+{"uid":"9091466994612516089","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the orange packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet into the tray 2- done\n\u003c/PRED\u003e","video":"16301644288210586346.mp4"}
+{"uid":"8626382946850325615","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17017445313206474053.mp4"}
+{"uid":"5958827184051351641","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fork into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the fork into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork into the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"17369929249630211276.mp4"}
+{"uid":"14057432960749282001","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the bowl 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"1083973578786670997.mp4"}
+{"uid":"2399307765300238483","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl Q: immediate next step? \u003cPRED\u003eA: place a packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a packet in tray 2- put the popcorn packet in the bowl 3- done\n\u003c/PRED\u003e","video":"3283884224335129835.mp4"}
+{"uid":"11694463829190853209","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white chpped spoon in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a white chpped spoon in stand 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"5365692117969164065.mp4"}
+{"uid":"2521202530670361978","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the bowl 2- put the orange white packet in the bowl 3- put the popcorn packet in the bowl 4- put the popcorn packet in the bowl 5- done\n\u003c/PRED\u003e","video":"11292228164820187869.mp4"}
+{"uid":"16000688285229114313","text":"\u003ctask:success:discrete:True\u003e\nplace a orange packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a orange packet in tray\n\u003c/PRED\u003e","video":"5068895104955934886.mp4"}
+{"uid":"11038405094871521149","text":"\u003ctask:success:discrete:True\u003e\nplace a black packet in white 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 a black packet in white tray\n\u003c/PRED\u003e","video":"14846520271134154455.mp4"}
+{"uid":"387987398125838601","text":"\u003ctask:success:discrete:True\u003e\nPlace the packet 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 packet in the bowl\n\u003c/PRED\u003e","video":"2768921703705349697.mp4"}
+{"uid":"16835808770366197264","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the bowl 2- put the popcorn packet in the bowl 3- put the popcorn packet in the bowl 4- done\n\u003c/PRED\u003e","video":"1662838984851596404.mp4"}
+{"uid":"150398822095092737","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"18220831356848318938.mp4"}
+{"uid":"10670381751415031126","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple inside the container box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10195204508866179916.mp4"}
+{"uid":"9637085747080725484","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":"9689002430251713612.mp4"}
+{"uid":"1972466865605662089","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fork into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the fork into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork into the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"1061980798205412460.mp4"}
+{"uid":"1484473067268262098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm towards the forks Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"115775178205654795.mp4"}
+{"uid":"10490462968652335255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6760675318869683021.mp4"}
+{"uid":"5231216606748506006","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the blue object in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10412682857064105050.mp4"}
+{"uid":"7596718861544911933","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the bowl 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"6457624393255347031.mp4"}
+{"uid":"7877546512737163095","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fork into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork into the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"1784250322993815103.mp4"}
+{"uid":"4606716494182939558","text":"\u003ctask:success:discrete:True\u003e\nput the popcorn packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the popcorn packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5182602179468044637.mp4"}
+{"uid":"16975348138190457076","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen from table and place it 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":"577182826974114516.mp4"}
+{"uid":"11282176580030074525","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the white 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":"17265419591513158983.mp4"}
+{"uid":"12480165269795543978","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the bowl 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"4335367599920596291.mp4"}
+{"uid":"2363328649399429993","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15328738145612704350.mp4"}
+{"uid":"15905047673401576244","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"2807812631482994918.mp4"}
+{"uid":"6860767116311249725","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4146467894660158851.mp4"}
+{"uid":"12286587561513374811","text":"\u003ctask:success:discrete:True\u003e\nplace fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e","video":"12075262606006028727.mp4"}
+{"uid":"3369699089297874910","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the white packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl Q: immediate next step? \u003cPRED\u003eA: place the white packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet into the tray 2- put the popcorn packet in the bowl 3- done\n\u003c/PRED\u003e","video":"6869448399061493000.mp4"}
+{"uid":"2316463359253081350","text":"\u003ctask:success:discrete:True\u003e\nplace the white packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white packet into the tray\n\u003c/PRED\u003e","video":"1876190582371435813.mp4"}
+{"uid":"17246416347340209460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper cup upside down on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"882161405317311367.mp4"}
+{"uid":"3157000927387055140","text":"\u003ctask:success:discrete:True\u003e\nplace the fork into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e","video":"1132404456366179676.mp4"}
+{"uid":"9474529595040342223","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a orange packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a orange packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a orange packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a orange packet in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place a orange packet in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder Q: immediate next step? \u003cPRED\u003eA: place a orange packet in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place a orange packet in tray 2- put the popcorn packet in the bowl 3- put the popcorn packet in the bowl 4- done\n\u003c/PRED\u003e","video":"16288370631192352076.mp4"}
+{"uid":"16882592987737635984","text":"\u003ctask:success:discrete:True\u003e\nput the orange packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange white packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange white packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange white packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the orange white packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange white packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange white packet in the bowl 2- put the popcorn packet in the bowl 3- put the popcorn packet in the bowl 4- done\n\u003c/PRED\u003e","video":"17326869053112394442.mp4"}
+{"uid":"8132495581457474689","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the bowl 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"16327710056054377070.mp4"}
+{"uid":"1347644811305675376","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white chpped spoon in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a white chpped spoon in stand 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the stand 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"10296577414259911136.mp4"}
+{"uid":"17712762797333065882","text":"\u003ctask:success:discrete:True\u003e\nplace a white chpped spoon in stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white chpped spoon in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the fork into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e","video":"4917339815803948118.mp4"}
+{"uid":"14452255351689595326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the red bull can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10157624794824143355.mp4"}
+{"uid":"12881194367396653071","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fork in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the stand 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"7107769839420417980.mp4"}
+{"uid":"18084791382779122103","text":"\u003ctask:success:discrete:True\u003e\nput the fork in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e","video":"8563691111805626436.mp4"}
+{"uid":"13454257203570839456","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the bowl 2- put the popcorn packet in the bowl 3- done\n\u003c/PRED\u003e","video":"15065938239538110734.mp4"}
+{"uid":"18412493649037760192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8811450268634127525.mp4"}
+{"uid":"10481219557684465199","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12663983443266255816.mp4"}
+{"uid":"12054240822499140139","text":"\u003ctask:success:discrete:True\u003e\nput the white packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the black packet in the bowl 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"18322902013914538797.mp4"}
+{"uid":"8215406802775239938","text":"\u003ctask:success:discrete:True\u003e\nPlace the packet 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 packet in the bowl\n\u003c/PRED\u003e","video":"3543745851535727503.mp4"}
+{"uid":"15175902950412958841","text":"\u003ctask:success:discrete:True\u003e\nput the popcorn packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the popcorn packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the popcorn packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the popcorn packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the popcorn packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn packet in the bowl 2- done\n\u003c/PRED\u003e","video":"6318563182661898258.mp4"}
+{"uid":"8948963109206571122","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sponge in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1267008219226828546.mp4"}
+{"uid":"9891514598471421203","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fork in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the stand 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"11907033156188040340.mp4"}
+{"uid":"3602986292596575481","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14323006730111865783.mp4"}
+{"uid":"1323979511140388716","text":"\u003ctask:success:discrete:True\u003e\nput the black packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the black packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the black packet in the bowl 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"9388643662421856410.mp4"}
+{"uid":"16037868490267990366","text":"\u003ctask:success:discrete:True\u003e\nPlace the packet 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 packet in the bowl\n\u003c/PRED\u003e","video":"5597489615398205517.mp4"}
+{"uid":"14777174790383731127","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- place fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the bowl 2- put the orange white packet in the bowl 3- put the popcorn packet in the bowl 4- put the popcorn packet in the bowl 5- done\n\u003c/PRED\u003e","video":"6285931175249431097.mp4"}
+{"uid":"9571696786023153976","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop that 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":"15690527911325163693.mp4"}
+{"uid":"16392084799866184489","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the bowl 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"5547034561316574385.mp4"}
+{"uid":"6747875356983079680","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12037826281976927248.mp4"}
+{"uid":"695261096891048435","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":"9002076333328558455.mp4"}
+{"uid":"680833946488466156","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the numi breakfast blend Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7115097780970974353.mp4"}
+{"uid":"3132501782290271722","text":"\u003ctask:success:discrete:True\u003e\nplace fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e","video":"8347683254945206259.mp4"}
+{"uid":"3766552162096685518","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a black packet in white 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 a black packet in white tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a black packet in white tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place a black packet in white tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a black packet in white tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a black packet in white tray 2- put the orange white packet in the bowl 3- put the popcorn packet in the bowl 4- put the popcorn packet in the bowl 5- done\n\u003c/PRED\u003e","video":"3565184596202524562.mp4"}
+{"uid":"9637181341698098985","text":"\u003ctask:success:discrete:True\u003e\nplace fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place fork in the holder\n\u003c/PRED\u003e","video":"6556984387637017105.mp4"}
+{"uid":"17651152956996303962","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3645505944530132466.mp4"}
+{"uid":"4511603567012710869","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two sugar 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":"13912066826351948711.mp4"}
+{"uid":"14861500764468054750","text":"\u003ctask:success:discrete:True\u003e\nplace the fork into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e","video":"4063039535553148806.mp4"}
+{"uid":"11242650726604064990","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fork into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the fork into the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the fork into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork into the holder 2- put the orange packet in the bowl 3- put the orange white packet in the bowl 4- put the popcorn packet in the bowl 5- put the popcorn packet in the bowl\n\u003c/PRED\u003e","video":"1937471781892998591.mp4"}
+{"uid":"6525733584327017487","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":"1257716553000084800.mp4"}
+{"uid":"6921626208022455965","text":"\u003ctask:success:discrete:True\u003e\nplace a black packet in white 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 a black packet in white tray\n\u003c/PRED\u003e","video":"8454590674349186684.mp4"}